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REVERTME: Add assert statement at Shane's request

This commit is contained in:
Eric Brown 2024-01-31 19:04:42 -07:00
parent 25321ed9b1
commit b4b885eb11
1 changed files with 3 additions and 0 deletions
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3
selfdrive/car/gm/carstate.py
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@ -35,6 +35,9 @@ class CarState(CarStateBase):
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# 0 - unknown, 1 - forward, 2 - reverse, 3 - unsupported, 4 - fault
self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"] != 2) and (pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"] != 2)
rl_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RLWheelDir"]
rr_wheel_dir = pt_cp.vl["EBCMWheelSpdRear"]["RRWheelDir"]
assert rl_wheel_dir in (1, 2) and rr_wheel_dir in (1, 2), f"Invalid RLWheelDir: {rl_wheel_dir}, RRWheelDir: {rr_wheel_dir}"
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0