From ad5b7bc6d17d42a1f5c404b291fb4b7b1de4cc17 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Jul 2025 20:36:19 -0700 Subject: [PATCH] better --- selfdrive/car/card.py | 8 ++------ selfdrive/controls/controlsd.py | 5 ++++- selfdrive/test/process_replay/process_replay.py | 2 +- 3 files changed, 7 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 101573aef0..3339096307 100755 --- a/selfdrive/car/card.py +++ b/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 diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index 8f36404b8b..b5d4258d75 100755 --- a/selfdrive/controls/controlsd.py +++ b/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 diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index db0ae62744..288f107437 100755 --- a/selfdrive/test/process_replay/process_replay.py +++ b/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,