add carParams.passive (#30594)

old-commit-hash: bd0ab957b1

selfdrive/controls/controlsd.py

@@ -113,8 +113,8 @@ class Controls:
     car_recognized = self.CP.carName != 'mock'
 
     controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
-    self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly
-    if self.read_only:
+    self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly
+    if self.CP.passive:
       safety_config = car.CarParams.SafetyConfig.new_message()
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
@@ -189,7 +189,7 @@ class Controls:
         set_offroad_alert("Offroad_CarUnrecognized", True)
       else:
         set_offroad_alert("Offroad_NoFirmware", True)
-    elif self.read_only:
+    elif self.CP.passive:
       self.events.add(EventName.dashcamMode, static=True)
     elif self.joystick_mode:
       self.events.add(EventName.joystickDebug, static=True)
@@ -225,7 +225,7 @@ class Controls:
       return
 
     # no more events while in dashcam mode
-    if self.read_only:
+    if self.CP.passive:
       return
 
     # Block resume if cruise never previously enabled
@@ -440,7 +440,7 @@ class Controls:
         if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
           self.sm.ignore_alive.append('wideRoadCameraState')
 
-        if not self.read_only:
+        if not self.CP.passive:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
         self.initialized = True
@@ -745,7 +745,7 @@ class Controls:
     if current_alert:
       hudControl.visualAlert = current_alert.visual_alert
 
-    if not self.read_only and self.initialized:
+    if not self.CP.passive and self.initialized:
       # send car controls over can
       now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
       self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
@@ -860,7 +860,7 @@ class Controls:
     self.update_events(CS)
     cloudlog.timestamp("Events updated")
 
-    if not self.read_only and self.initialized:
+    if not self.CP.passive and self.initialized:
       # Update control state
       self.state_transition(CS)
       self.prof.checkpoint("State transition")