Remove get_one_can from messaging (#1946)
* move get_one_can into openpilot * bump cerealpull/1952/head
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63e4aeac9f
commit
714f8c3f0b
2
cereal
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cereal
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@ -1 +1 @@
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Subproject commit 29099e87a1372694fb81b426faaa57e832bbe87a
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Subproject commit 430cc73a3b7c31de902bd0a62fbac7cd3a05cf3e
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@ -27,6 +27,13 @@ def get_startup_event(car_recognized, controller_available):
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return event
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def get_one_can(logcan):
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while True:
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can = messaging.recv_one_retry(logcan)
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if len(can.can) > 0:
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return can
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def load_interfaces(brand_names):
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ret = {}
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for brand_name in brand_names:
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@ -114,7 +121,7 @@ def fingerprint(logcan, sendcan, has_relay):
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done = False
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while not done:
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a = messaging.get_one_can(logcan)
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a = get_one_can(logcan)
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for can in a.can:
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# need to independently try to fingerprint both bus 0 and 1 to work
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@ -10,7 +10,7 @@ from common.params import Params, put_nonblocking
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import cereal.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.car_helpers import get_car, get_startup_event
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from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
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from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
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from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
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from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
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@ -64,7 +64,7 @@ class Controls:
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hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
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has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
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print("Waiting for CAN messages...")
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messaging.get_one_can(self.can_sock)
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get_one_can(self.can_sock)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
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@ -4,7 +4,7 @@ from common.params import Params
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from copy import copy
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from cereal import car, log
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import cereal.messaging as messaging
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from selfdrive.car.car_helpers import get_car
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from selfdrive.car.car_helpers import get_car, get_one_can
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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HwType = log.HealthData.HwType
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@ -28,7 +28,7 @@ def steer_thread():
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hw_type = messaging.recv_one(health).health.hwType
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has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
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print("Waiting for CAN messages...")
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messaging.get_one_can(logcan)
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get_one_can(logcan)
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CI, CP = get_car(logcan, sendcan, has_relay)
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Params().put("CarParams", CP.to_bytes())
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