diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py index ff43ac6773..d9108a8d96 100644 --- a/selfdrive/car/isotp_parallel_query.py +++ b/selfdrive/car/isotp_parallel_query.py @@ -19,32 +19,17 @@ class IsoTpParallelQuery: self.functional_addr = functional_addr self.response_pending_timeout = response_pending_timeout - # self.real_addrs = [] - # for a in addrs: - # if isinstance(a, tuple): - # self.real_addrs.append(a) - # else: - # self.real_addrs.append((a, None)) - if self.functional_addr: # Add standard physical addresses to tx on after initial functional address query - real_addrs = [] - # self.msg_addrs = {} self.msg_addrs = {} for a in FUNCTIONAL_ADDRS: if a in addrs: for fun_addr in FUNCTIONAL_ADDRS[a]: self.msg_addrs[get_rx_addr_for_tx_addr(fun_addr, rx_offset=response_offset)] = (a, None) - # self.msg_addrs[a] = get_rx_addr_for_tx_addr(a, rx_offset=response_offset) - # for fun_addr in FUNCTIONAL_ADDRS[a][1:]: - # print(fun_addr) - # self.msg_addrs[fun_addr] = get_rx_addr_for_tx_addr(fun_addr, rx_offset=response_offset) - # self.msg_addrs[a].extend([get_rx_addr_for_tx_addr(fa, rx_offset=response_offset) for fa in FUNCTIONAL_ADDRS[a][1:]]) else: real_addrs = [a if isinstance(a, tuple) else (a, None) for a in addrs] self.msg_addrs = {get_rx_addr_for_tx_addr(tx_addr[0], rx_offset=response_offset): tx_addr for tx_addr in real_addrs} - print(self.msg_addrs) self.msg_buffer = defaultdict(list) def rx(self): @@ -98,15 +83,12 @@ class IsoTpParallelQuery: request_done = {} tx_addrs_sent = [] for rx_addr, tx_addr in self.msg_addrs.items(): - # rx_addr not set when using functional tx addr - # id_addr = rx_addr or tx_addr[0] sub_addr = tx_addr[1] + max_len = 8 if sub_addr is None else 7 can_client = CanClient(self._can_tx, partial(self._can_rx, rx_addr, sub_addr=sub_addr), tx_addr[0], rx_addr, self.bus, sub_addr=sub_addr, debug=self.debug) - max_len = 8 if sub_addr is None else 7 - msg = IsoTpMessage(can_client, timeout=0, max_len=max_len, debug=self.debug) # Don't query functional addresses multiple times