better

selfdrive/car/card.py

@@ -16,7 +16,7 @@ from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallabl
 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 ISO_LATERAL_ACCEL, ISO_LATERAL_JERK, CarInterfaceBase, RadarInterfaceBase
+from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
 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
@@ -29,10 +29,6 @@ EventName = log.OnroadEvent.EventName
 carlog.addHandler(ForwardingHandler(cloudlog))
 
 
-def check_lateral_iso_violation(sm: messaging.SubMaster) -> bool:
-  return False
-
-
 def obd_callback(params: Params) -> ObdCallback:
   def set_obd_multiplexing(obd_multiplexing: bool):
     if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
@@ -69,7 +65,7 @@ class Car:
 
   def __init__(self, CI=None, RI=None) -> None:
     self.can_sock = messaging.sub_sock('can', timeout=20)
-    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'controlsState', 'liveParameters'])
+    self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
     self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
 
     self.can_rcv_cum_timeout_counter = 0

selfdrive/controls/controlsd.py

@@ -10,6 +10,7 @@ from openpilot.common.realtime import config_realtime_process, Priority, Ratekee
 from openpilot.common.swaglog import cloudlog
 
 from opendbc.car.car_helpers import interfaces
+from opendbc.car.interfaces import ISO_LATERAL_ACCEL, ISO_LATERAL_JERK
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
 from openpilot.selfdrive.controls.lib.latcontrol import LatControl
@@ -26,6 +27,8 @@ LaneChangeDirection = log.LaneChangeDirection
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
 
+def check_lateral_iso_violation(sm: messaging.SubMaster) -> bool:
+  return False
 
 
 class Controls:
@@ -160,7 +163,7 @@ class Controls:
     hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
     hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
 
-    if accel is bad:
+    if check_lateral_iso_violation(sm):
       set_offroad_alert_if_changed("Offroad_ViolatedIsoLimits", True)
 
     hudControl.rightLaneVisible = True

selfdrive/test/process_replay/process_replay.py

@@ -485,7 +485,7 @@ CONFIGS = [
   ),
   ProcessConfig(
     proc_name="card",
-    pubs=["pandaStates", "carControl", "onroadEvents", "can", "controlsState", "liveParameters"],
+    pubs=["pandaStates", "carControl", "onroadEvents", "can"],
     subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"],
     ignore=["logMonoTime", "carState.cumLagMs"],
     init_callback=card_fingerprint_callback,