revert modeld/controlsd/plannerd/locationd to first-commit baseline
Starting point for rebuilding self-drive from a known-good baseline.
Reverts the following to their state at f46339c:
- selfdrive/modeld/modeld.py (constant 20fps, no variable-rate / standby skip)
- selfdrive/modeld/dmonitoringmodeld.py (no carState sub, no standstill skip)
- selfdrive/controls/controlsd.py (no parked-cycle skip, no FPCC hoisting, no MDPS split)
- selfdrive/controls/lib/longitudinal_planner.py
- selfdrive/locationd/calibrationd.py (valid = sm.all_checks again)
- selfdrive/locationd/paramsd.py
- selfdrive/locationd/torqued.py
All non-self-drive features (thermald fan control, speed limit controller,
cruise warning signs, UI state transitions, GPS fixes, ClearPilot menu,
dashcamd, telemetry, etc.) remain as-is on this branch — only the 4 core
self-drive processes are reverted.
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
+62
-204
@@ -38,7 +38,6 @@ from openpilot.selfdrive.frogpilot.controls.lib.frogpilot_functions import CRUIS
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from openpilot.selfdrive.frogpilot.controls.lib.model_manager import RADARLESS_MODELS
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from openpilot.selfdrive.clearpilot.telemetry import tlog
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from openpilot.selfdrive.clearpilot.speed_logic import SpeedState
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from openpilot.selfdrive.frogpilot.controls.lib.speed_limit_controller import SpeedLimitController
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SOFT_DISABLE_TIME = 3 # seconds
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@@ -81,10 +80,6 @@ class Controls:
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self.params_memory.put_bool("CPTLkasButtonAction", False)
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self.params_memory.put_int("ScreenDisplayMode", 0)
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# ClearPilot speed processing
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self.speed_state = SpeedState()
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self.speed_state_frame = 0
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self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
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with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
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@@ -113,9 +108,8 @@ class Controls:
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self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
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'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
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'testJoystick', 'frogpilotPlan', 'gpsLocation'] + self.camera_packets + self.sensor_packets,
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ignore_alive=ignore+['gpsLocation'], ignore_avg_freq=ignore+['radarState', 'testJoystick', 'gpsLocation'],
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ignore_valid=['testJoystick', 'gpsLocation'],
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'testJoystick', 'frogpilotPlan'] + self.camera_packets + self.sensor_packets,
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ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
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frequency=int(1/DT_CTRL))
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self.joystick_mode = self.params.get_bool("JoystickDebugMode")
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@@ -170,26 +164,6 @@ class Controls:
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self.current_alert_types = [ET.PERMANENT]
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self.logged_comm_issue = None
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self.not_running_prev = None
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self.lat_requested_ts = 0 # CLEARPILOT: timestamp when lat was first requested (ramp-up delay + comm issue suppression)
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self.prev_lat_requested = False
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# CLEARPILOT: gate frogpilotCarControl send on change (3 static bools, was publishing 100Hz)
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self._prev_fpcc = (None, None, None, None, None)
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self._last_fpcc_send_frame = 0
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# CLEARPILOT: hysteresis counters for transient-filter on cascade alerts. A blip
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# under 50ms (5 cycles at 100Hz) is typical of MSGQ conflate + slow-polling-consumer
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# freq-measurement artifacts — not a real comm issue. Persistent failure still
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# alerts after 50ms, well inside a driver's reaction window.
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self._hyst_commissue = 0
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self._hyst_locationd_tmp = 0
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self._hyst_paramsd_tmp = 0
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self._hyst_posenet = 0
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self.HYST_CYCLES = 5
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# CLEARPILOT: parked-cycle skip — in park+ignition-on, run the full step() only
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# every 10th cycle. CAN parse + CAN TX still happen every cycle; outer logic
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# (events, state machine, PID/MPC, publishing) runs at 10Hz. Cached message
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# bytes are re-published on skipped cycles so downstream freq_ok stays OK.
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self._cached_controlsState_bytes = None
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self._cached_carControl_bytes = None
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self.steer_limited = False
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self.desired_curvature = 0.0
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self.experimental_mode = False
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@@ -224,8 +198,6 @@ class Controls:
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self.always_on_lateral_main = self.always_on_lateral and self.params.get_bool("AlwaysOnLateralMain")
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self.drive_added = False
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self.driving_gear = False
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self.was_driving_gear = False
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self.fcw_random_event_triggered = False
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self.holiday_theme_alerted = False
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self.onroad_distance_pressed = False
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@@ -264,51 +236,27 @@ class Controls:
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CS = self.data_sample()
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cloudlog.timestamp("Data sampled")
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# CLEARPILOT: handle debug-button press + display-mode transitions on every
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# cycle — button edge events only live in the cycle's CS.buttonEvents and
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# would otherwise be dropped on skipped cycles.
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self.handle_screen_mode(CS)
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self.update_events(CS)
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self.update_frogpilot_events(CS)
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self.update_clearpilot_events(CS)
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# CLEARPILOT: in park, only run the full step() every 10th cycle. data_sample
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# above still runs (CAN parse, button detection). Below, card.controls_update
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# still runs (CAN TX heartbeat, counters increment). The skipped outer logic
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# (events, state machine, PID/MPC, publishing) causes at most ~100ms lag on
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# button→state transitions, which is fine in park. Cached message bytes are
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# re-sent so downstream consumers see steady 100Hz.
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parked = CS.gearShifter == car.CarState.GearShifter.park
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full_cycle = (not parked) or (self.sm.frame % 10 == 0) or (self._cached_controlsState_bytes is None)
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cloudlog.timestamp("Events updated")
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if full_cycle:
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self.update_events(CS)
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self.update_frogpilot_events(CS)
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self.update_clearpilot_events(CS)
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if not self.CP.passive and self.initialized:
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# Update control state
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self.state_transition(CS)
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cloudlog.timestamp("Events updated")
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# Compute actuators (runs PID loops and lateral MPC)
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CC, lac_log = self.state_control(CS)
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CC = self.clearpilot_state_control(CC, CS)
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if not self.CP.passive and self.initialized:
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# Update control state
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self.state_transition(CS)
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# Publish data
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self.publish_logs(CS, start_time, CC, lac_log)
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# Compute actuators (runs PID loops and lateral MPC)
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CC, lac_log = self.state_control(CS)
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CC = self.clearpilot_state_control(CC, CS)
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# Publish data (also sends CAN TX via card.controls_update inside)
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self.publish_logs(CS, start_time, CC, lac_log)
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self.CS_prev = CS
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# Update FrogPilot variables
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self.update_frogpilot_variables(CS)
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else:
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# CAN TX heartbeat: keep counters incrementing and CAN frames flowing to the car
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if not self.CP.passive and self.initialized:
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self.card.controls_update(self.CC, self.frogpilot_variables)
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# Re-publish cached messages so downstream freq_ok checks don't trip
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self.pm.send('controlsState', self._cached_controlsState_bytes)
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self.pm.send('carControl', self._cached_carControl_bytes)
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self.CS_prev = CS
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self.CS_prev = CS
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# Update FrogPilot variables
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self.update_frogpilot_variables(CS)
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def data_sample(self):
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"""Receive data from sockets and update carState"""
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@@ -499,18 +447,7 @@ class Controls:
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standby_ts = float(self.params_memory.get("ModelStandbyTs") or "0")
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except (ValueError, TypeError):
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standby_ts = 0
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now = time.monotonic()
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model_suppress = (now - standby_ts) < 2.0
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# CLEARPILOT: suppress commIssue/location/params errors for 2s after lat was requested
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# Model FPS jumps from 4 to 20 on engage, causing transient freq check failures
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# lat_requested_ts is set in state_control on the False->True transition of LatRequested
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# CLEARPILOT: 2s window — long enough to cover the modeld rate transition burst
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# without hiding real comms issues. Extending this further risks masking a genuine
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# fault that demands immediate driver takeover.
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lat_engage_suppress = (now - self.lat_requested_ts) < 2.0
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# CLEARPILOT: expose suppress flags + standby_ts for the debug dumper in step()
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model_suppress = (time.monotonic() - standby_ts) < 2.0
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not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
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if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
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@@ -524,14 +461,9 @@ class Controls:
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self.events.add(EventName.cameraMalfunction)
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elif not self.sm.all_freq_ok(self.camera_packets):
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self.events.add(EventName.cameraFrameRate)
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# CLEARPILOT: alert only when avg cycle time exceeds 20ms (≈50Hz effective).
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# Stock rk.lagging fires at 11.1ms (90% of 10ms) which the Hyundai CAN load
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# routinely crosses while driving — that's normal, not a fault. 50Hz control is
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# still plenty responsive. `rk.lagging` is still used defensively elsewhere
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# (lines ~479, 492) to skip secondary checks when slightly overloaded.
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avg_dt = sum(self.rk._dts) / len(self.rk._dts)
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alert_lagging = avg_dt > 0.020
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if not REPLAY and alert_lagging and not model_suppress and not lat_engage_suppress:
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if not REPLAY and self.rk.lagging:
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import sys
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print(f"CLP controlsdLagging: remaining={self.rk.remaining:.4f} standstill={CS.standstill} vEgo={CS.vEgo:.2f}", file=sys.stderr)
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self.events.add(EventName.controlsdLagging)
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if not self.radarless_model:
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if not model_suppress and (len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState']))):
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@@ -546,60 +478,34 @@ class Controls:
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# generic catch-all. ideally, a more specific event should be added above instead
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has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
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no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
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# CLEARPILOT: commIssue fires ONLY when messages actually aren't flowing. If all
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# subscribers are alive and CAN isn't timing out, comms are fine — any `valid=False`
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# is an upstream self-declaration that cascades from the MSGQ conflate +
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# slow-polling-consumer freq_ok measurement artifact. The car drives correctly
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# during these cascades (content is still usable), so we stop raising the banner.
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# Genuine comms failures — missing messages or CAN RX timeout — still fire.
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comms_really_broken = (not self.sm.all_alive()) or self.card.can_rcv_timeout
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commissue_cond = comms_really_broken and no_system_errors and not model_suppress and not lat_engage_suppress
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if commissue_cond:
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self._hyst_commissue += 1
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else:
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self._hyst_commissue = 0
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if self._hyst_commissue >= self.HYST_CYCLES:
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self.events.add(EventName.commIssue)
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if commissue_cond:
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# Log ONCE per entry into comms-really-broken state — no hyst counter so it doesn't
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# spam every cycle (hyst changes every cycle and would make logs dict always differ).
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if (not self.sm.all_checks() or self.card.can_rcv_timeout) and no_system_errors and not model_suppress:
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if not self.sm.all_alive():
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self.events.add(EventName.commIssue)
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elif not self.sm.all_freq_ok():
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self.events.add(EventName.commIssueAvgFreq)
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else: # invalid or can_rcv_timeout.
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self.events.add(EventName.commIssue)
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logs = {
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'invalid': [s for s, valid in self.sm.valid.items() if not valid],
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'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
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'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
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'can_rcv_timeout': self.card.can_rcv_timeout,
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}
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if logs != self.logged_comm_issue:
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import sys, json
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print("CLP commIssue " + json.dumps(logs), file=sys.stderr, flush=True)
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cloudlog.event("commIssue", error=True, **logs)
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self.logged_comm_issue = logs
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else:
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self.logged_comm_issue = None
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if not (self.CP.notCar and self.joystick_mode):
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# CLEARPILOT: suppress locationd/paramsd "temporary error" when we're in the
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# freq-only cascade (same root as the commIssue suppression above). These events
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# cascade from upstream freq_ok artifacts — locationd's filterInitialized latches
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# False if calibrationd tips invalid due to freq, which cascades here.
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# Real failures still fire commIssue above via alive/valid/can_rcv_timeout gate.
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freq_only_cascade = (not self.sm.all_checks()) and not comms_really_broken
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# deviceFalling is real-physics (shock sensor), no hysteresis, no cascade suppression.
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if not self.sm['liveLocationKalman'].posenetOK and not model_suppress:
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self.events.add(EventName.posenetInvalid)
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if not self.sm['liveLocationKalman'].deviceStable:
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self.events.add(EventName.deviceFalling)
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posenet_bad = not self.sm['liveLocationKalman'].posenetOK and not model_suppress and not lat_engage_suppress and not freq_only_cascade
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self._hyst_posenet = self._hyst_posenet + 1 if posenet_bad else 0
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if self._hyst_posenet >= self.HYST_CYCLES:
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self.events.add(EventName.posenetInvalid)
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locd_bad = not self.sm['liveLocationKalman'].inputsOK and not model_suppress and not lat_engage_suppress and not freq_only_cascade
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self._hyst_locationd_tmp = self._hyst_locationd_tmp + 1 if locd_bad else 0
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if self._hyst_locationd_tmp >= self.HYST_CYCLES:
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if not self.sm['liveLocationKalman'].inputsOK and not model_suppress:
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self.events.add(EventName.locationdTemporaryError)
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paramsd_bad = not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress and not lat_engage_suppress and not freq_only_cascade
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self._hyst_paramsd_tmp = self._hyst_paramsd_tmp + 1 if paramsd_bad else 0
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if self._hyst_paramsd_tmp >= self.HYST_CYCLES:
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if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY) and not model_suppress:
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self.events.add(EventName.paramsdTemporaryError)
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# conservative HW alert. if the data or frequency are off, locationd will throw an error
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@@ -613,8 +519,16 @@ class Controls:
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if self.cruise_mismatch_counter > int(6. / DT_CTRL):
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self.events.add(EventName.cruiseMismatch)
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# CLEARPILOT: FCW disabled — car's own radar AEB works better and triggers reliably.
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# The comma FCW was producing false positives and adds nothing over the stock system.
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# Check for FCW
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stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
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model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
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planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
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if planner_fcw or model_fcw:
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self.events.add(EventName.fcw)
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# self.fcw_random_event_triggered = True
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# elif self.fcw_random_event_triggered and self.random_events:
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# self.events.add(EventName.yourFrogTriedToKillMe)
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# self.fcw_random_event_triggered = False
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for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
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try:
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@@ -762,19 +676,8 @@ class Controls:
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# Check which actuators can be enabled
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standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
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# CLEARPILOT: lat_requested ignores momentary MDPS faults so modeld doesn't drop rate during
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# brief steerFaultTemporary blips (stale predictions on recovery caused a fault feedback loop).
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# lat_engaged gates the actual steering command and still respects the fault.
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lat_requested = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and \
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(not standstill or self.joystick_mode)
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lat_engaged = lat_requested and not CS.steerFaultTemporary and not CS.steerFaultPermanent
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now_ts = time.monotonic()
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if lat_requested and not self.prev_lat_requested:
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self.lat_requested_ts = now_ts
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self.prev_lat_requested = lat_requested
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self.FPCC.latRequested = lat_requested
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CC.latActive = lat_engaged and (now_ts - self.lat_requested_ts) >= 0.25
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CC.latActive = (self.active or self.FPCC.alwaysOnLateral) and self.speed_check and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
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(not standstill or self.joystick_mode)
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CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
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actuators = CC.actuators
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@@ -789,13 +692,11 @@ class Controls:
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CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
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CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
|
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no_lat_lane_change = model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change
|
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if no_lat_lane_change:
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if model_v2.meta.laneChangeState == LaneChangeState.laneChangeStarting and clearpilot_disable_lat_on_lane_change:
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CC.latActive = False
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# CLEARPILOT: noLatLaneChange now lives on frogpilotCarControl (see update_frogpilot_variables).
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# Also mirrored to frogpilot_variables so in-process carcontroller reads it without IPC.
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self.FPCC.noLatLaneChange = no_lat_lane_change
|
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self.frogpilot_variables.no_lat_lane_change = no_lat_lane_change
|
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self.params_memory.put_bool("no_lat_lane_change", True)
|
||||
else:
|
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self.params_memory.put_bool("no_lat_lane_change", False)
|
||||
|
||||
if CS.leftBlinker or CS.rightBlinker:
|
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self.last_blinker_frame = self.sm.frame
|
||||
@@ -1031,8 +932,6 @@ class Controls:
|
||||
controlsState.lateralControlState.torqueState = lac_log
|
||||
|
||||
self.pm.send('controlsState', dat)
|
||||
# CLEARPILOT: cache for re-publication on parked-skip cycles
|
||||
self._cached_controlsState_bytes = dat.to_bytes()
|
||||
|
||||
# onroadEvents - logged every second or on change
|
||||
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
|
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@@ -1047,7 +946,6 @@ class Controls:
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cc_send.valid = CS.canValid
|
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cc_send.carControl = CC
|
||||
self.pm.send('carControl', cc_send)
|
||||
self._cached_carControl_bytes = cc_send.to_bytes()
|
||||
|
||||
# copy CarControl to pass to CarInterface on the next iteration
|
||||
self.CC = CC
|
||||
@@ -1078,11 +976,6 @@ class Controls:
|
||||
while True:
|
||||
self.step()
|
||||
self.rk.monitor_time()
|
||||
# CLEARPILOT: accumulated debt from startup/blocking calls never recovers.
|
||||
# Reset the rate keeper when catastrophically behind — prevents a one-time
|
||||
# ~8s fingerprinting stall from poisoning the lag metric for the whole session.
|
||||
if self.rk.remaining < -1.0:
|
||||
self.rk._next_frame_time = time.monotonic() + self.rk._interval
|
||||
except SystemExit:
|
||||
e.set()
|
||||
t.join()
|
||||
@@ -1153,11 +1046,13 @@ class Controls:
|
||||
elif self.sm['modelV2'].meta.turnDirection == Desire.turnRight:
|
||||
self.events.add(EventName.turningRight)
|
||||
|
||||
# CLEARPILOT: check crash file once per second, not every cycle (stat syscall at 100Hz hurts)
|
||||
if self.sm.frame % 100 == 0:
|
||||
self._crashed_file_exists = os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt'))
|
||||
if getattr(self, '_crashed_file_exists', False) and self.crashed_timer < 10:
|
||||
if os.path.isfile(os.path.join(sentry.CRASHES_DIR, 'error.txt')) and self.crashed_timer < 10:
|
||||
self.events.add(EventName.openpilotCrashed)
|
||||
|
||||
# if self.random_events and not self.openpilot_crashed_triggered:
|
||||
# self.events.add(EventName.openpilotCrashedRandomEvents)
|
||||
# self.openpilot_crashed_triggered = True
|
||||
|
||||
self.crashed_timer += DT_CTRL
|
||||
|
||||
# if self.speed_limit_alert or self.speed_limit_confirmation:
|
||||
@@ -1280,18 +1175,10 @@ class Controls:
|
||||
|
||||
self.FPCC.trafficModeActive = self.frogpilot_variables.traffic_mode and self.params_memory.get_bool("TrafficModeActive")
|
||||
|
||||
# CLEARPILOT: send only when any field changes, with 1Hz keepalive
|
||||
# Saves ~7ms/sec of capnp+zmq work (was sending 100Hz despite static contents)
|
||||
# latRequested and noLatLaneChange are edge-triggered too (rare flips)
|
||||
fpcc_tuple = (self.FPCC.alwaysOnLateral, self.FPCC.speedLimitChanged, self.FPCC.trafficModeActive,
|
||||
self.FPCC.latRequested, self.FPCC.noLatLaneChange)
|
||||
if fpcc_tuple != self._prev_fpcc or (self.sm.frame - self._last_fpcc_send_frame) >= 100:
|
||||
fpcc_send = messaging.new_message('frogpilotCarControl')
|
||||
fpcc_send.valid = CS.canValid
|
||||
fpcc_send.frogpilotCarControl = self.FPCC
|
||||
self.pm.send('frogpilotCarControl', fpcc_send)
|
||||
self._prev_fpcc = fpcc_tuple
|
||||
self._last_fpcc_send_frame = self.sm.frame
|
||||
fpcc_send = messaging.new_message('frogpilotCarControl')
|
||||
fpcc_send.valid = CS.canValid
|
||||
fpcc_send.frogpilotCarControl = self.FPCC
|
||||
self.pm.send('frogpilotCarControl', fpcc_send)
|
||||
|
||||
if self.params_memory.get_bool("FrogPilotTogglesUpdated"):
|
||||
self.update_frogpilot_params()
|
||||
@@ -1369,19 +1256,7 @@ class Controls:
|
||||
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
|
||||
self.events.add(EventName.clpDebug)
|
||||
|
||||
def handle_screen_mode(self, CS):
|
||||
"""CLEARPILOT: tracks driving_gear, auto-resets display, and cycles
|
||||
ScreenDisplayMode on debug-button presses. Must run every cycle so button
|
||||
edge events aren't lost during parked-skip mode (edges happen in carstate
|
||||
edge detection and only appear in that one cycle's CS.buttonEvents)."""
|
||||
self.driving_gear = CS.gearShifter not in (GearShifter.neutral, GearShifter.park, GearShifter.reverse, GearShifter.unknown)
|
||||
|
||||
# auto-reset display when shifting into drive from screen-off
|
||||
if self.driving_gear and not self.was_driving_gear:
|
||||
if self.params_memory.get_int("ScreenDisplayMode") == 3:
|
||||
self.params_memory.put_int("ScreenDisplayMode", 0)
|
||||
self.was_driving_gear = self.driving_gear
|
||||
|
||||
def clearpilot_state_control(self, CC, CS):
|
||||
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
|
||||
current = self.params_memory.get_int("ScreenDisplayMode")
|
||||
|
||||
@@ -1394,23 +1269,6 @@ class Controls:
|
||||
new_mode = 0 if current == 3 else 3
|
||||
|
||||
self.params_memory.put_int("ScreenDisplayMode", new_mode)
|
||||
|
||||
def clearpilot_state_control(self, CC, CS):
|
||||
|
||||
# ClearPilot speed processing (~2 Hz at 100 Hz loop)
|
||||
self.speed_state_frame += 1
|
||||
if self.speed_state_frame % 50 == 0:
|
||||
gps = self.sm['gpsLocation']
|
||||
has_gps = self.sm.valid['gpsLocation'] and gps.hasFix
|
||||
speed_ms = gps.speed if has_gps else 0.0
|
||||
speed_limit_ms = self.params_memory.get_float("CarSpeedLimit")
|
||||
is_metric = (self.params_memory.get("CarIsMetric", encoding="utf-8") or "0") == "1"
|
||||
cruise_speed_ms = CS.cruiseState.speed
|
||||
cruise_active = CS.cruiseState.enabled
|
||||
cruise_standstill = CS.cruiseState.standstill
|
||||
self.speed_state.update(speed_ms, has_gps, speed_limit_ms, is_metric,
|
||||
cruise_speed_ms, cruise_active, cruise_standstill)
|
||||
|
||||
return CC
|
||||
|
||||
def main():
|
||||
|
||||
@@ -143,10 +143,6 @@ class LongitudinalPlanner:
|
||||
self.params = Params()
|
||||
self.params_memory = Params("/dev/shm/params")
|
||||
|
||||
# CLEARPILOT: track model FPS for dynamic dt adjustment
|
||||
self.model_fps = 20
|
||||
self._dbg_prev_valid = True # CLEARPILOT: diagnostic logging on valid transitions
|
||||
|
||||
self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
|
||||
|
||||
self.release = get_short_branch() == "clearpilot"
|
||||
@@ -177,19 +173,6 @@ class LongitudinalPlanner:
|
||||
return x, v, a, j
|
||||
|
||||
def update(self, sm):
|
||||
# CLEARPILOT: read actual model FPS and adjust dt accordingly
|
||||
model_fps_raw = self.params_memory.get("ModelFps")
|
||||
if model_fps_raw is not None:
|
||||
try:
|
||||
fps = int(model_fps_raw)
|
||||
if fps > 0 and fps != self.model_fps:
|
||||
self.model_fps = fps
|
||||
self.dt = 1.0 / fps
|
||||
self.v_desired_filter.dt = self.dt
|
||||
self.v_desired_filter.update_alpha(2.0) # rc=2.0, same as __init__
|
||||
except (ValueError, ZeroDivisionError):
|
||||
pass
|
||||
|
||||
self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
|
||||
|
||||
v_ego = sm['carState'].vEgo
|
||||
@@ -256,10 +239,7 @@ class LongitudinalPlanner:
|
||||
self.j_desired_trajectory = np.interp(ModelConstants.T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
|
||||
|
||||
# TODO counter is only needed because radar is glitchy, remove once radar is gone
|
||||
# CLEARPILOT: scale crash_cnt threshold by FPS — at 20fps need 3 frames (0.15s),
|
||||
# at 4fps need 1 frame (0.25s already exceeds 0.15s window)
|
||||
fcw_threshold = max(0, int(0.15 * self.model_fps) - 1) # 20fps->2, 4fps->0
|
||||
self.fcw = self.mpc.crash_cnt > fcw_threshold and not sm['carState'].standstill
|
||||
self.fcw = self.mpc.crash_cnt > 2 and not sm['carState'].standstill
|
||||
if self.fcw:
|
||||
cloudlog.info("FCW triggered")
|
||||
|
||||
@@ -278,18 +258,7 @@ class LongitudinalPlanner:
|
||||
def publish(self, sm, pm):
|
||||
plan_send = messaging.new_message('longitudinalPlan')
|
||||
|
||||
valid = sm.all_checks(service_list=['carState', 'controlsState'])
|
||||
# CLEARPILOT: log on transition into invalid — stderr goes to our plannerd.log
|
||||
if valid != self._dbg_prev_valid and not valid:
|
||||
import sys
|
||||
print(
|
||||
"CLP longitudinalPlan valid=False: "
|
||||
f"carState(a={sm.alive['carState']},v={sm.valid['carState']},f={sm.freq_ok['carState']}) "
|
||||
f"controlsState(a={sm.alive['controlsState']},v={sm.valid['controlsState']},f={sm.freq_ok['controlsState']})",
|
||||
file=sys.stderr, flush=True
|
||||
)
|
||||
self._dbg_prev_valid = valid
|
||||
plan_send.valid = valid
|
||||
plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
|
||||
|
||||
longitudinalPlan = plan_send.longitudinalPlan
|
||||
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
|
||||
|
||||
Reference in New Issue
Block a user