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update dsu mode logic

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This commit is contained in:
Rick Lan
2020-04-01 11:16:14 +10:00
parent c05ead35af
commit bee58fc33e
1 changed files with 8 additions and 7 deletions
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15
selfdrive/controls/controlsd.py
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@@ -77,7 +77,7 @@ def events_to_bytes(events):
return ret
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params):
def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu):
"""Receive data from sockets and create events for battery, temperature and disk space"""
# Update carstate from CAN and create events
@@ -131,11 +131,12 @@ def data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter
if not enabled:
mismatch_counter = 0
controls_allowed = sm['health'].controlsAllowed
if not controls_allowed and enabled:
mismatch_counter += 1
if mismatch_counter >= 200:
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
if not dragon_toyota_stock_dsu:
controls_allowed = sm['health'].controlsAllowed
if not controls_allowed and enabled:
mismatch_counter += 1
if mismatch_counter >= 200:
events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
return CS, events, cal_perc, mismatch_counter, can_error_counter
@@ -566,7 +567,7 @@ def controlsd_thread(sm=None, pm=None, can_sock=None):
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params)
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter, params, dragon_toyota_stock_dsu)
prof.checkpoint("Sample")
# Create alerts