planner: read experimental mode from controlsState (#26553)

read from controlsState

selfdrive/controls/lib/longitudinal_planner.py

@@ -6,7 +6,6 @@ from common.numpy_fast import clip, interp
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.filter_simple import FirstOrderFilter
-from common.params import Params
 from common.realtime import DT_MDL
 from selfdrive.modeld.constants import T_IDXS
 from selfdrive.controls.lib.longcontrol import LongCtrlState
@@ -48,12 +47,7 @@ def limit_accel_in_turns(v_ego, angle_steers, a_target, CP):
 class LongitudinalPlanner:
   def __init__(self, CP, init_v=0.0, init_a=0.0):
     self.CP = CP
-    self.params = Params()
-    self.param_read_counter = 0
-
     self.mpc = LongitudinalMpc()
-    self.read_param()
-
     self.fcw = False
 
     self.a_desired = init_a
@@ -65,10 +59,6 @@ class LongitudinalPlanner:
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
 
-  def read_param(self):
-    e2e = self.params.get_bool('ExperimentalMode') and self.CP.openpilotLongitudinalControl
-    self.mpc.mode = 'blended' if e2e else 'acc'
-
   @staticmethod
   def parse_model(model_msg, model_error):
     if (len(model_msg.position.x) == 33 and
@@ -85,10 +75,8 @@ class LongitudinalPlanner:
       j = np.zeros(len(T_IDXS_MPC))
     return x, v, a, j
 
-  def update(self, sm, read=True):
+  def update(self, sm):
-    if self.param_read_counter % 50 == 0 and read:
+    self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
-      self.read_param()
-    self.param_read_counter += 1
 
     v_ego = sm['carState'].vEgo
     v_cruise_kph = sm['controlsState'].vCruise