mawei/onepilot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

controlsd: revert CAN timeout threshold (#27275)

Browse Source 
* controlsd: revert CAN timeout threshold

* dt_ctrl doesn't make sense there
old-commit-hash: 79789011019e923c66a9db05c2da362237ce96b3
This commit is contained in:
Adeeb Shihadeh
2023-02-09 18:54:17 -08:00
committed by GitHub
parent 15341714b3
commit 827c16fbcb
1 changed files with 8 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
selfdrive/controls/controlsd.py
View File

@@ -167,11 +167,11 @@ class Controls:
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_timeout = False
self.soft_disable_timer = 0
self.mismatch_counter = 0
self.cruise_mismatch_counter = 0
self.can_rcv_timeout_counter = 0
self.can_rcv_timeout_counter = 0 # conseuctive timeout count
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
self.last_blinker_frame = 0
self.last_steering_pressed_frame = 0
self.distance_traveled = 0
@@ -349,9 +349,10 @@ class Controls:
self.events.add(EventName.canError)
# generic catch-all. ideally, a more specific event should be added above instead
can_rcv_timeout = self.can_rcv_timeout_counter >= 5
has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
if (not self.sm.all_checks() or self.can_rcv_timeout) and no_system_errors:
if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
@@ -363,7 +364,7 @@ class Controls:
'invalid': [s for s, valid in self.sm.valid.items() if not valid],
'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
'can_rcv_timeout': self.can_rcv_timeout,
'can_rcv_timeout': can_rcv_timeout,
}
if logs != self.logged_comm_issue:
cloudlog.event("commIssue", error=True, **logs)
@@ -445,9 +446,9 @@ class Controls:
# Check for CAN timeout
if not can_strs:
self.can_rcv_timeout_counter += 1
self.can_rcv_timeout = True
self.can_rcv_cum_timeout_counter += 1
else:
self.can_rcv_timeout = False
self.can_rcv_timeout_counter = 0
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
@@ -785,7 +786,7 @@ class Controls:
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_rcv_timeout_counter
controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter
controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
lat_tuning = self.CP.lateralTuning.which()