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Update selfdrive/selfdrived/selfdrived.py

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J3ff
2026-08-26 15:21:33 -05:00
parent 1edd840554
commit 15f656043c
1 changed files with 2 additions and 5 deletions
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selfdrive/selfdrived/selfdrived.py
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@@ -99,16 +99,13 @@ class SelfdriveD(GapButtonActions):
self.gps_location_service = get_gps_location_service(self.params) self.gps_location_service = get_gps_location_service(self.params)
self.gps_packets = [self.gps_location_service] self.gps_packets = [self.gps_location_service]
self.sensor_packets = ["accelerometer", "gyroscope"] self.sensor_packets = ["accelerometer", "gyroscope"]
self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] self.camera_packets = ["roadCameraState", "wideRoadCameraState"] # C3 Lite: no driver camera
if os.path.exists('/tmp/lite_hw'):
self.camera_packets.remove("driverCameraState")
# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
self.car_state_sock = messaging.sub_sock('carState', timeout=20) self.car_state_sock = messaging.sub_sock('carState', timeout=20)
ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan', 'iqDriveModelData', 'iqNavState', 'liveParameters', 'driverAssistance', 'testJoystick'] ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan', 'iqDriveModelData', 'iqNavState', 'liveParameters', 'driverAssistance', 'testJoystick']
if os.path.exists('/tmp/lite_hw'): ignore += ['driverCameraState', 'driverMonitoringState'] # C3 Lite: no driver camera
ignore += ['driverCameraState', 'driverMonitoringState']
if SIMULATION: if SIMULATION:
ignore += ['driverCameraState', 'managerState'] ignore += ['driverCameraState', 'managerState']
if REPLAY: if REPLAY: