From 9be7cf2cdaa4c274cc4fd55797ac5d6421fc9652 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 26 Aug 2021 13:33:43 -0700 Subject: [PATCH] remove deprecated mpc logging code --- selfdrive/controls/lib/lateral_planner.py | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py index 1c3ca89898..0dab9503b9 100644 --- a/selfdrive/controls/lib/lateral_planner.py +++ b/selfdrive/controls/lib/lateral_planner.py @@ -1,4 +1,3 @@ -import os import math import numpy as np from common.realtime import sec_since_boot, DT_MDL @@ -14,8 +13,6 @@ from cereal import log LaneChangeState = log.LateralPlan.LaneChangeState LaneChangeDirection = log.LateralPlan.LaneChangeDirection -LOG_MPC = os.environ.get('LOG_MPC', False) - LANE_CHANGE_SPEED_MIN = 30 * CV.MPH_TO_MS LANE_CHANGE_TIME_MAX = 10. @@ -237,12 +234,3 @@ class LateralPlanner(): plan_send.lateralPlan.laneChangeDirection = self.lane_change_direction pm.send('lateralPlan', plan_send) - - if LOG_MPC: - dat = messaging.new_message('liveMpc') - dat.liveMpc.x = list(self.mpc_solution.x) - dat.liveMpc.y = list(self.mpc_solution.y) - dat.liveMpc.psi = list(self.mpc_solution.psi) - dat.liveMpc.curvature = list(self.mpc_solution.curvature) - dat.liveMpc.cost = self.mpc_solution.cost - pm.send('liveMpc', dat)