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adopt modelrevert tree as the new clearpilot baseline

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Replaces clearpilot's working state wholesale with the modelrevert branch's
tree (modelrevert tip cea422b). Discards the parked-controlsd manager-process
split and the two session READMEs that documented it; keeps the simpler
in-process park short-circuits (controlsd state_control, plannerd, frogpilot_process)
and the cached-output decimation (modeld, dmonitoringmodeld) that achieve
the same goal with less moving parts. Also brings in the locationd GPS
ignore, the calibrationd valid=calStatus gate, and the model-revert lineage's
controlsd / paramsd / torqued / events.py / carstate.py / interfaces.py.

This is a single new commit on clearpilot (no merge), so the branch advances
linearly while the file state matches modelrevert exactly.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
This commit is contained in:
Brian Hanson
2026-04-26 12:17:35 -05:00
parent d639e28057
commit 8b4b7e04b5
21 changed files with 204 additions and 941 deletions
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selfdrive/car/hyundai/carstate.py
+27 -57
View File
@@ -13,6 +13,7 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
CANFD_CAR, Buttons, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.clearpilot.telemetry import tlog
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
@@ -47,6 +48,10 @@ class CarState(CarStateBase):
self.is_metric = False
self.buttons_counter = 0
# CLEARPILOT: cache to avoid per-cycle atomic writes to /dev/shm (eats CPU via fsync/flock)
self._prev_car_speed_limit = None
self._prev_car_is_metric = None
self.cruise_info = {}
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
@@ -209,10 +214,15 @@ class CarState(CarStateBase):
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
# self.params_memory.put_int("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
self.params_memory.put_float("CarCruiseDisplayActual", cp_cruise.vl["SCC11"]["VSetDis"])
# CLEARPILOT: gate on change — see same fix in update_canfd
car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
if car_speed_limit != self._prev_car_speed_limit:
self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
self._prev_car_speed_limit = car_speed_limit
if self.is_metric != self._prev_car_is_metric:
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
self._prev_car_is_metric = self.is_metric
return ret
@@ -415,63 +425,23 @@ class CarState(CarStateBase):
# nonAdaptive = false,
# speedCluster = 0 )
# print("Set limit")
# print(self.calculate_speed_limit(cp, cp_cam))
# self.params_memory.put_float("CarSpeedLimitLiteral", self.calculate_speed_limit(cp, cp_cam))
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
# CLEARPILOT: gate on change — these writes run 100Hz, each is an atomic fsync/flock transaction
car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
if car_speed_limit != self._prev_car_speed_limit:
self.params_memory.put_float("CarSpeedLimit", car_speed_limit)
self._prev_car_speed_limit = car_speed_limit
if self.is_metric != self._prev_car_is_metric:
self.params_memory.put("CarIsMetric", "1" if self.is_metric else "0")
self._prev_car_is_metric = self.is_metric
# CLEARPILOT: CAN-FD telemetry — preserved but disabled. Re-enable by uncommenting (also restore the import).
# from openpilot.selfdrive.clearpilot.telemetry import tlog
#
# CLEARPILOT: telemetry logging — disabled, re-enable when needed
# speed_limit_bus = cp if self.CP.flags & HyundaiFlags.CANFD_HDA2 else cp_cam
# scc = cp_cam.vl["SCC_CONTROL"] if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp.vl["SCC_CONTROL"]
# cluster = speed_limit_bus.vl["CLUSTER_SPEED_LIMIT"]
#
# tlog("car", {
# "vEgo": round(ret.vEgo, 3),
# "vEgoRaw": round(ret.vEgoRaw, 3),
# "aEgo": round(ret.aEgo, 3),
# "steeringAngleDeg": round(ret.steeringAngleDeg, 1),
# "gear": str(ret.gearShifter),
# "brakePressed": ret.brakePressed,
# "gasPressed": ret.gasPressed,
# "standstill": ret.standstill,
# "leftBlinker": ret.leftBlinker,
# "rightBlinker": ret.rightBlinker,
# })
#
# tlog("cruise", {
# "enabled": ret.cruiseState.enabled,
# "available": ret.cruiseState.available,
# "speed": round(ret.cruiseState.speed, 3),
# "standstill": ret.cruiseState.standstill,
# "accFaulted": ret.accFaulted,
# "ACCMode": scc.get("ACCMode", 0),
# "VSetDis": scc.get("VSetDis", 0),
# "aReqRaw": round(scc.get("aReqRaw", 0), 3),
# "aReqValue": round(scc.get("aReqValue", 0), 3),
# "DISTANCE_SETTING": scc.get("DISTANCE_SETTING", 0),
# "ACC_ObjDist": round(scc.get("ACC_ObjDist", 0), 1),
# })
#
# tlog("speed_limit", {
# "SPEED_LIMIT_1": cluster.get("SPEED_LIMIT_1", 0),
# "SPEED_LIMIT_2": cluster.get("SPEED_LIMIT_2", 0),
# "SPEED_LIMIT_3": cluster.get("SPEED_LIMIT_3", 0),
# "SCHOOL_ZONE": cluster.get("SCHOOL_ZONE", 0),
# "CHIME_1": cluster.get("CHIME_1", 0),
# "CHIME_2": cluster.get("CHIME_2", 0),
# "SPEED_CHANGE_BLINKING": cluster.get("SPEED_CHANGE_BLINKING", 0),
# "calculated": self.calculate_speed_limit(cp, cp_cam),
# "is_metric": self.is_metric,
# })
#
# tlog("buttons", {
# "cruise_button": self.cruise_buttons[-1],
# "main_button": self.main_buttons[-1],
# "lkas_enabled": self.lkas_enabled,
# "main_enabled": self.main_enabled,
# })
# tlog("car", { ... })
# tlog("cruise", { ... })
# tlog("speed_limit", { ... })
# tlog("buttons", { ... })
return ret