Update NDOG live (#35205)

* no alt exp

* live

* fix

* update res
pull/35207/head
Adeeb Shihadeh 4 months ago committed by GitHub
parent 3d696c0f90
commit 313ede3d1e
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
  1. 2
      opendbc_repo
  2. 8
      selfdrive/car/card.py
  3. 4
      selfdrive/selfdrived/selfdrived.py
  4. 7
      selfdrive/test/process_replay/process_replay.py
  5. 2
      selfdrive/test/process_replay/ref_commit

@ -1 +1 @@
Subproject commit 95ee4edd17ecc6700eac12f2074de6b5478b9477
Subproject commit a633eeb65c0807746cd9cf5cb1bb1dc227779f3f

@ -17,7 +17,6 @@ from opendbc.car.carlog import carlog
from opendbc.car.fw_versions import ObdCallback
from opendbc.car.car_helpers import get_car, interfaces
from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
from openpilot.selfdrive.car.cruise import VCruiseHelper
from openpilot.selfdrive.car.car_specific import MockCarState
@ -108,16 +107,9 @@ class Car:
self.CI, self.CP = CI, CI.CP
self.RI = RI
# set alternative experiences from parameters
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
self.CP.passive = not controller_available or self.CP.dashcamOnly
if self.CP.passive:
safety_config = structs.CarParams.SafetyConfig()

@ -7,7 +7,6 @@ import cereal.messaging as messaging
from cereal import car, log
from msgq.visionipc import VisionIpcClient, VisionStreamType
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
@ -55,7 +54,6 @@ class SelfdriveD:
self.CP = CP
self.car_events = CarSpecificEvents(self.CP)
self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS)
# Setup sockets
self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'])
@ -85,6 +83,7 @@ class SelfdriveD:
# read params
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
car_recognized = self.CP.brand != 'mock'
@ -486,6 +485,7 @@ class SelfdriveD:
def params_thread(self, evt):
while not evt.is_set():
self.is_metric = self.params.get_bool("IsMetric")
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
self.personality = self.read_personality_param()
time.sleep(0.1)

@ -17,7 +17,6 @@ from cereal import car
from cereal.services import SERVICE_LIST
from msgq.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
from opendbc.car.car_helpers import get_car, interfaces
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from openpilot.common.prefix import OpenpilotPrefix
from openpilot.common.timeout import Timeout
@ -365,9 +364,6 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
CP = get_car(*can_callbacks, lambda obd: None, Params().get_bool("AlphaLongitudinalEnabled"), cached_params=cached_params).CP
if not params.get_bool("DisengageOnAccelerator"):
CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
params.put("CarParams", CP.to_bytes())
@ -769,9 +765,6 @@ def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=Non
params_dict["IsRhdDetected"] = is_rhd
if CP is not None:
if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
params_dict["DisengageOnAccelerator"] = False
if fingerprint is None:
if CP.fingerprintSource == "fw":
params_dict["CarParamsCache"] = CP.as_builder().to_bytes()

@ -1 +1 @@
b31b7c5c29e6d30ccee2fa5105af778810fcd02e
61bfff810e45b7a1577cfbb572a7b3c233f8551b
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