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controls: write recalibrating offroad alert once (#28312)

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* only write once

* rm read

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
This commit is contained in:
Shane Smiskol
2023-05-26 13:07:35 -07:00
committed by GitHub
parent 005ec28e72
commit 715f44ff45
1 changed files with 4 additions and 1 deletions
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5
selfdrive/controls/controlsd.py
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@@ -178,6 +178,7 @@ class Controls:
self.desired_curvature_rate = 0.0
self.experimental_mode = False
self.v_cruise_helper = VCruiseHelper(self.CP)
self.recalibrating_seen = False
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
@@ -286,7 +287,9 @@ class Controls:
if cal_status == log.LiveCalibrationData.Status.uncalibrated:
self.events.add(EventName.calibrationIncomplete)
elif cal_status == log.LiveCalibrationData.Status.recalibrating:
set_offroad_alert("Offroad_Recalibration", True)
if not self.recalibrating_seen:
set_offroad_alert("Offroad_Recalibration", True)
self.recalibrating_seen = True
self.events.add(EventName.calibrationRecalibrating)
else:
self.events.add(EventName.calibrationInvalid)