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parent
6f74d6f0dc
commit
0d26d9a072
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@ -181,7 +181,6 @@ class Controls:
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"""Compute carEvents from carState"""
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self.events.clear()
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self.events.add_from_msg(CS.events)
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self.events.add_from_msg(self.sm['driverMonitoringState'].events)
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# Handle startup event
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@ -193,10 +192,11 @@ class Controls:
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if not self.initialized:
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self.events.add(EventName.controlsInitializing)
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return
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self.events.add_from_msg(CS.events)
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# Create events for battery, temperature, disk space, and memory
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if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \
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self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
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self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
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# at zero percent battery, while discharging, OP should not allowed
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self.events.add(EventName.lowBattery)
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if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
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@ -233,7 +233,7 @@ class Controls:
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if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
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direction = self.sm['lateralPlan'].laneChangeDirection
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if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
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(CS.rightBlindspot and direction == LaneChangeDirection.right):
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(CS.rightBlindspot and direction == LaneChangeDirection.right):
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self.events.add(EventName.laneChangeBlocked)
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else:
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if direction == LaneChangeDirection.left:
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@ -172,7 +172,7 @@ class RadarD():
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radarState.carStateMonoTime = sm.logMonoTime['carState']
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if enable_lead:
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leads_v3 = sm['modelV2'].leadsV3
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leads_v3 = sm['modelV2'].leadsV3
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if len(leads_v3) > 1:
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radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
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radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
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