reverting some code for testing

SippieCup · Mar 25, 2020 · 2619acb · 2619acb
1 parent 3b78d0e
commit 2619acb
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Showing 3 changed files with 15 additions and 13 deletions.
diff --git a/panda/board/main.c b/panda/board/main.c
@@ -108,24 +108,24 @@ void debug_ring_callback(uart_ring *ring) {
 // ****************************** safety mode ******************************
 
 // this is the only way to leave silent mode
-void set_safety_mode(uint16_t mode, int16_t param) {
+void set_safety_mode2(uint16_t mode, int16_t param) {
   //BB to prevent any changes to safety
   UNUSED(mode);
   UNUSED(param);
 }
 
 // this is the only way to leave silent mode
-void set_safety_mode2(uint16_t mode, int16_t param) {
+void set_safety_mode(uint16_t mode, int16_t param) {
   if (prev_safety_mode == mode) {
     return;
   }
   //BB we had this now they changed it to below: int err = safety_set_mode2(mode, param);
   uint16_t mode_copy = mode;
-  int err = set_safety_hooks(mode_copy, param);
+  int err = set_safety_hooks2(mode_copy, param);
   if (err == -1) {
     puts("Error: safety set mode failed. Falling back to SILENT\n");
     mode_copy = SAFETY_SILENT;
-    err = set_safety_hooks(mode_copy, 0);
+    err = set_safety_hooks2(mode_copy, 0);
     if (err == -1) {
       puts("Error: Failed setting SILENT mode. Hanging\n");
       while (true) {
@@ -826,6 +826,7 @@ int main(void) {
 
   // init to SILENT and can silent
   set_safety_mode(SAFETY_SILENT, 0);
+  //set_safety_mode(SAFETY_TESLA,0 );
 
   // enable CAN TXs
   current_board->enable_can_transcievers(true);

diff --git a/panda/board/safety.h b/panda/board/safety.h
@@ -215,14 +215,14 @@ const safety_hook_config safety_hook_registry[] = {
 };
 int current_safety = -1;
 
-int set_safety_hooks(uint16_t mode, int16_t param) {
+int set_safety_hooks2(uint16_t mode, int16_t param) {
   //BB prevent resetting if already in the correct mode
   UNUSED(mode);
   UNUSED(param);
   return 1;
 }
 
-int set_safety_hooks2(uint16_t mode, int16_t param) {
+int set_safety_hooks(uint16_t mode, int16_t param) {
   safety_mode_cnt = 0U;  // reset safety mode timer
   int set_status = -1;  // not set
   int hook_config_count = sizeof(safety_hook_registry) / sizeof(safety_hook_config);

diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
@@ -8,7 +8,7 @@
 from selfdrive.car.tesla.carstate import CarState, get_can_parser, get_epas_parser, get_pedal_parser
 from selfdrive.car.tesla.values import CruiseButtons, CM, BP, AH, CAR,DBC
 from common.params import read_db
-from selfdrive.car import STD_CARGO_KG
+from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.tesla.readconfig import CarSettings
 import selfdrive.messaging as messaging
 from cereal.services import service_list
@@ -21,8 +21,6 @@
 K_MULT = 0.8 
 K_MULTi = 280000.
 
-def tesla_compute_gb(accel, speed):
-  return float(accel) / 3.
 
 
 class CarInterface():
@@ -57,8 +55,11 @@ def __init__(self, CP, CarController):
     if CarController is not None:
       self.CC = CarController(self.cp.dbc_name)
 
-    self.compute_gb = tesla_compute_gb
-
+
+  @staticmethod
+  def compute_gb(accel, speed):
+    return float(accel) / 3.
+
 
 
   @staticmethod
@@ -93,12 +94,12 @@ def calc_accel_override(a_ego, a_target, v_ego, v_target):
     return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
 
   @staticmethod
-  def get_params(candidate, fingerprint, vin="", is_panda_black=False):
+  def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
 
     # Scaled tire stiffness
     ts_factor = 8 
 
-    ret = car.CarParams.new_message()
+    ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
 
     ret.carName = "tesla"
     ret.carFingerprint = candidate