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controlsd: move carParams management to card (#31534) 

* card-manage

* fix

* init params

* reversed that

* can be in the init
This commit is contained in:
Justin Newberry 2024-02-21 19:11:00 -05:00 committed by GitHub
parent 0b4d08fab8
commit 00315325a3
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GPG Key ID: B5690EEEBB952194
1 changed files with 29 additions and 22 deletions
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51
selfdrive/controls/controlsd.py
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@ -86,6 +86,34 @@ class CarD:
else:
self.CI, self.CP = CI, CI.CP
# set alternative experiences from parameters
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
car_recognized = self.CP.carName != 'mock'
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
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]
# Write previous route's CarParams
prev_cp = self.params.get("CarParamsPersistent")
if prev_cp is not None:
self.params.put("CarParamsPrevRoute", prev_cp)
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
self.params.put("CarParams", cp_bytes)
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
def initialize(self):
"""Initialize CarInterface, once controls are ready"""
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
@ -180,13 +208,8 @@ class Controls:
self.joystick_mode = self.params.get_bool("JoystickDebugMode")
# set alternative experiences from parameters
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# read params
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
@ -197,22 +220,6 @@ class Controls:
car_recognized = self.CP.carName != 'mock'
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
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]
# Write previous route's CarParams
prev_cp = self.params.get("CarParamsPersistent")
if prev_cp is not None:
self.params.put("CarParamsPrevRoute", prev_cp)
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
self.params.put("CarParams", cp_bytes)
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
# cleanup old params
if not self.CP.experimentalLongitudinalAvailable: