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controlsd: check all_valid only if not initialized (#23437) 

* check all valid in if statement

* apply review
pull/23479/head
Dean Lee 2022-01-10 19:13:58 +08:00 committed by GitHub
parent 2d08f8b318
commit 67af095692
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 7 additions and 6 deletions
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13
selfdrive/controls/controlsd.py
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@ -366,12 +366,13 @@ class Controls:
self.sm.update(0)
all_valid = CS.canValid and self.sm.all_alive_and_valid()
if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION):
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
Params().put_bool("ControlsReady", True)
if not self.initialized:
all_valid = CS.canValid and self.sm.all_alive_and_valid()
if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
if not can_strs: