diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index af7c228bae..f4a1652078 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -394,9 +394,8 @@ class Controls: self.events.add(EventName.modeldLagging) def data_sample(self): - """Receive data from sockets and update carState""" + """Receive data from sockets""" - # TODO: is this right? self.sm.update(20) CS = self.sm['carState'] @@ -411,9 +410,6 @@ class Controls: if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') - # if not self.CP.passive: - # self.card.initialize() - self.initialized = True self.set_initial_state() self.params.put_bool_nonblocking("ControlsReady", True) @@ -726,7 +722,6 @@ class Controls: hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - # self.card.controls_update(CC) self.last_actuators = CO.actuatorsOutput if self.CP.steerControlType == car.CarParams.SteerControlType.angle: self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ @@ -774,7 +769,6 @@ class Controls: controlsState.cumLagMs = -self.rk.remaining * 1000. controlsState.startMonoTime = int(start_time * 1e9) controlsState.forceDecel = bool(force_decel) - # controlsState.canErrorCounter = self.card.can_rcv_cum_timeout_counter controlsState.experimentalMode = self.experimental_mode controlsState.personality = self.personality controlsState.initialized = self.initialized