brianhansonxyz
47321e3867
Wholesale revert of driving-relevant files to the snapshot in /projects/openpilot/archive/clearpilot (HEAD 980f0aa). Goal: get known-good driving behavior back, then re-introduce optimizations slowly to track down a "feels like the wheel pulls right" regression. Files restored from baseline: - selfdrive/controls/controlsd.py - selfdrive/controls/lib/events.py - selfdrive/controls/lib/longitudinal_planner.py - selfdrive/modeld/modeld.py - selfdrive/modeld/dmonitoringmodeld.py - selfdrive/locationd/calibrationd.py - selfdrive/locationd/paramsd.py - selfdrive/locationd/torqued.py - selfdrive/car/interfaces.py - selfdrive/car/hyundai/carstate.py (CAN-FD telemetry preserved as a commented block for future re-enable) - selfdrive/monitoring/dmonitoringd.py - selfdrive/frogpilot/controls/frogpilot_planner.py - common/realtime.py Intentionally NOT restored (kept as current): - selfdrive/thermald/* (fan/power tuning kept) - selfdrive/car/hyundai/carcontroller.py + hyundaicanfd.py (perf-only hoist of no_lat_lane_change Params read; behavior-equivalent) - cereal/services.py, cereal/custom.capnp (additive only) - selfdrive/manager/*, common/params.cc (heavy ClearPilot infrastructure: bench mode, log dir, dashcamd, gpsd, params) - All selfdrive/ui/, selfdrive/clearpilot/, system/clearpilot/ UI features will be re-wired in a follow-up commit. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Car port structure
interface.py
Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)
fingerprints.py
Fingerprints for matching to a specific car
carcontroller.py
Builds CAN messages to send to car
carstate.py
Reads CAN from car and builds openpilot CarState message
values.py
Limits for actuation, general constants for cars, and supported car documentation
radar_interface.py
Interface for parsing radar points from the car