From 7ea0406ddb94730b43b556c31c787cd493e3981e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 11 Sep 2024 00:44:34 -0700 Subject: [PATCH] fix --- selfdrive/selfdrived/selfdrived.py | 2 +- system/manager/process_config.py | 2 +- tools/longitudinal_maneuvers/maneuversd.py | 1 + 3 files changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/selfdrived/selfdrived.py b/selfdrive/selfdrived/selfdrived.py index 5524ca9a98..80a80d4641 100755 --- a/selfdrive/selfdrived/selfdrived.py +++ b/selfdrive/selfdrived/selfdrived.py @@ -65,7 +65,7 @@ class SelfdriveD: # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches self.car_state_sock = messaging.sub_sock('carState', timeout=20) - ignore = self.sensor_packets + self.gps_packets + ['debugAlert'] + ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] if REPLAY: diff --git a/system/manager/process_config.py b/system/manager/process_config.py index 95f7a9a5c0..6173895d46 100644 --- a/system/manager/process_config.py +++ b/system/manager/process_config.py @@ -77,7 +77,7 @@ procs = [ PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad), PythonProcess("controlsd", "selfdrive.controls.controlsd", not_joystick), PythonProcess("joystickd", "tools.joystick.joystickd", joystick), - PythonProcess("maneuversd", "examples.maneuversd", long_maneuver), + PythonProcess("maneuversd", "tools.longitudinal_maneuvers.maneuversd", long_maneuver), PythonProcess("selfdrived", "selfdrive.selfdrived.selfdrived", only_onroad), PythonProcess("card", "selfdrive.car.card", only_onroad), PythonProcess("deleter", "system.loggerd.deleter", always_run), diff --git a/tools/longitudinal_maneuvers/maneuversd.py b/tools/longitudinal_maneuvers/maneuversd.py index 680589e0d5..93d4a5ca42 100755 --- a/tools/longitudinal_maneuvers/maneuversd.py +++ b/tools/longitudinal_maneuvers/maneuversd.py @@ -145,6 +145,7 @@ def main(): else: alert_msg.alertDebug.alertText1 = f'Reaching Target Speed: {maneuver.initial_speed * Conversions.MS_TO_MPH:0.2f} mph' alert_msg.alertDebug.alertText2 = f'Requesting {accel:0.2f} m/s^2' + pm.send('alertDebug', alert_msg) longitudinalPlan.aTarget = accel longitudinalPlan.shouldStop = cs.vEgo < CP.vEgoStopping and accel < 0 # should_stop