From 296ca6a225471addc963a1291c91156ae6da85d3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sat, 9 Mar 2024 02:44:37 -0800 Subject: [PATCH] write in plannerd as well, I assume this is atomic? --- selfdrive/controls/lib/longitudinal_planner.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py index 54cad24562..65dc3b473e 100755 --- a/selfdrive/controls/lib/longitudinal_planner.py +++ b/selfdrive/controls/lib/longitudinal_planner.py @@ -74,6 +74,9 @@ class LongitudinalPlanner: except (ValueError, TypeError): self.personality = log.LongitudinalPersonality.standard + def write_param(self): + self.params.put('LongitudinalPersonality', int(self.personality)) + @staticmethod def parse_model(model_msg, model_error): if (len(model_msg.position.x) == 33 and @@ -98,7 +101,7 @@ class LongitudinalPlanner: for m in messaging.drain_sock(carState_sock, wait_for_one=False): if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in m.carState.buttonEvents): self.personality = (self.personality - 1) % 3 - self.param_read_counter = 0 + self.write_param() self.param_read_counter += 1 self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'