From b6921c74ac87e1d6503a0860d0e39ea827249eb1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 11 Jul 2025 20:35:21 -0700 Subject: [PATCH] nah card shouldn't become bloated --- selfdrive/car/card.py | 8 ++++++-- selfdrive/controls/controlsd.py | 2 -- selfdrive/test/process_replay/process_replay.py | 2 +- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 3339096307..101573aef0 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 CarInterfaceBase, RadarInterfaceBase +from opendbc.car.interfaces import ISO_LATERAL_ACCEL, ISO_LATERAL_JERK, 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 @@ -29,6 +29,10 @@ 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: @@ -65,7 +69,7 @@ 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']) + self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents', 'controlsState', 'liveParameters']) 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 ab3fb8b449..8f36404b8b 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -26,8 +26,6 @@ LaneChangeDirection = log.LaneChangeDirection ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys()) -def check_lateral_iso_violation(sm: messaging.SubMaster) -> bool: - class Controls: diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py index 288f107437..db0ae62744 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"], + pubs=["pandaStates", "carControl", "onroadEvents", "can", "controlsState", "liveParameters"], subs=["sendcan", "carState", "carParams", "carOutput", "liveTracks"], ignore=["logMonoTime", "carState.cumLagMs"], init_callback=card_fingerprint_callback,