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controlsd: check all_valid only if not initialized #23437

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Merged
merged 2 commits into from
Jan 10, 2022
Merged

controlsd: check all_valid only if not initialized #23437

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c513de7
check all valid in if statement
deanlee Jan 7, 2022
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deanlee Jan 7, 2022
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13 changes: 7 additions & 6 deletions selfdrive/controls/controlsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -366,12 +366,13 @@ def data_sample(self):

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:
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