From b4b885eb11ad3079a84033f20f670cc905113bb9 Mon Sep 17 00:00:00 2001 From: Eric Brown Date: Wed, 31 Jan 2024 19:04:42 -0700 Subject: [PATCH] REVERTME: Add assert statement at Shane's request --- selfdrive/car/gm/carstate.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 805c508b55..56abbb1b01 100644 --- a/selfdrive/car/gm/carstate.py +++ b/selfdrive/car/gm/carstate.py @@ -35,6 +35,9 @@ class CarState(CarStateBase): self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"]) # 0 - unknown, 1 - forward, 2 - reverse, 3 - unsupported, 4 - fault self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] != 2) and (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] != 2) + rl_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] + rr_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] + assert rl_wheel_dir in (1, 2) and rr_wheel_dir in (1, 2), f"Invalid RLWheelDir: {rl_wheel_dir}, RRWheelDir: {rr_wheel_dir}" # Variables used for avoiding LKAS faults self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0