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针对lite的一些补丁

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This commit is contained in:
1okko
2025-04-15 22:37:54 +08:00
parent e144f6e9b9
commit ce97074d4d
3 changed files with 15 additions and 13 deletions
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20
selfdrive/selfdrived/selfdrived.py
View File

@@ -72,9 +72,9 @@ class SelfdriveD:
ignore = self.sensor_packets + self.gps_packets + ['alertDebug']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
if REPLAY:
if True:
# no vipc in replay will make them ignored anyways
ignore += ['roadCameraState', 'wideRoadCameraState']
ignore += ['roadCameraState', 'wideRoadCameraState', 'driverMonitoringState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
@@ -244,7 +244,7 @@ class SelfdriveD:
# safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
pass#self.events.add(EventName.controlsMismatch)
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
@@ -260,17 +260,19 @@ class SelfdriveD:
cloudlog.event("process_not_running", not_running=not_running, error=True)
self.not_running_prev = not_running
if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
pass#self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
pass#self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if not REPLAY and self.rk.lagging:
self.events.add(EventName.selfdrivedLagging)
if not self.sm.valid['radarState']:
if self.sm['radarState'].radarErrors.radarUnavailableTemporary:
if self.sm['radarState'].radarErrors.canError:
self.events.add(EventName.canError)
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
self.events.add(EventName.radarTempUnavailable)
else:
self.events.add(EventName.radarFault)
@@ -286,11 +288,11 @@ class SelfdriveD:
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
if not self.sm.all_checks() and no_system_errors:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
self.events.add(EventName.commIssueAvgFreq)
pass#self.events.add(EventName.commIssueAvgFreq)
else:
self.events.add(EventName.commIssue)
pass#self.events.add(EventName.commIssue)
logs = {
'invalid': [s for s, valid in self.sm.valid.items() if not valid],

4
system/athena/registration.py
View File

@@ -32,7 +32,7 @@ def register(show_spinner=False) -> str | None:
entirely.
"""
params = Params()
return UNREGISTERED_DONGLE_ID
dongle_id: str | None = params.get("DongleId", encoding='utf8')
if dongle_id is None and Path(Paths.persist_root()+"/comma/dongle_id").is_file():
# not all devices will have this; added early in comma 3X production (2/28/24)
@@ -97,7 +97,7 @@ def register(show_spinner=False) -> str | None:
if dongle_id:
params.put("DongleId", dongle_id)
set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
#set_offroad_alert("Offroad_UnofficialHardware", (dongle_id == UNREGISTERED_DONGLE_ID) and not PC)
return dongle_id

4
system/hardware/hardwared.py
View File

@@ -320,14 +320,14 @@ def hardware_thread(end_event, hw_queue) -> None:
if TICI and HARDWARE.get_device_type() == "tici":
if not os.path.isfile("/persist/comma/living-in-the-moment"):
if not Path("/data/media").is_mount():
set_offroad_alert_if_changed("Offroad_StorageMissing", True)
pass#set_offroad_alert_if_changed("Offroad_StorageMissing", True)
else:
# check for bad NVMe
try:
with open("/sys/block/nvme0n1/device/model") as f:
model = f.read().strip()
if not model.startswith("Samsung SSD 980") and params.get("Offroad_BadNvme") is None:
set_offroad_alert_if_changed("Offroad_BadNvme", True)
pass#set_offroad_alert_if_changed("Offroad_BadNvme", True)
cloudlog.event("Unsupported NVMe", model=model, error=True)
except Exception:
pass