torqued/lagd: fix missing steering pressed

[sshane]

Fixes #32964

Wonder if we should add some kind of vl_all to SubMaster (not conflate, and maybe only for specific messages), so we can remove the manual validity checks locationd does, which handles the same problem this PR fixes.

openpilot/openpilot/selfdrive/locationd/locationd.py

Lines 249 to 261 in 27122bb

	def sensor_all_checks(acc_msgs, gyro_msgs, sensor_valid, sensor_recv_time, sensor_alive, simulation):
	cur_time = time.monotonic()
	for which, msgs in [("accelerometer", acc_msgs), ("gyroscope", gyro_msgs)]:
	if len(msgs) > 0:
	sensor_valid[which] = msgs[-1].valid
	sensor_recv_time[which] = cur_time
	if not simulation:
	sensor_alive[which] = (cur_time - sensor_recv_time[which]) < 0.1
	else:
	sensor_alive[which] = len(msgs) > 0
	return all(sensor_alive.values()) and all(sensor_valid.values())

Plus this PR still only samples, so any jitter and we can miss one of these frames.

[github-actions]

Process replay diff report

Replays driving segments through this PR and compares the behavior to master.
Please review any changes carefully to ensure they are expected.

⚠️ 16 changed, 50 passed, 0 errors

Show changes

HYUNDAI - regenAA0FC4ED71E|2025-04-08--22-57-50--0 [lagd]

  valid (1 diffs)
    frame 2: True -> False

HYUNDAI2 - regenAFB9780D823|2025-04-08--23-00-34--0 [lagd]

  valid (1 diffs)
    frame 3: True -> False

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [lagd]

  liveDelay (message count) (1 diffs)
    frame 0: 240 -> 241

  valid (1 diffs)
    frame 4: True -> False

TOYOTA - regen218A4DCFAA1|2025-04-08--22-57-51--0 [torqued]

  liveTorqueParameters.calPerc (5 diffs)
    frame 213: 1 -> 2
    frame 214: 1 -> 2
    frame 215: 1 -> 2
    frame 216: 1 -> 2
    frame 226: 3 -> 2

  liveTorqueParameters.frictionCoefficientRaw (1 diffs)
    frame 210: 0.13463328778743744 -> 0.0

  liveTorqueParameters.latAccelFactorRaw (3 diffs)
    frame 210: 0.7500128149986267 -> 0.0
    frame 215: 0.8403434753417969 -> 0.8261051774024963
    frame 225: 0.7046459913253784 -> 0.7150174975395203

  liveTorqueParameters.latAccelOffsetRaw (1 diffs)
    frame 210: -0.14209137856960297 -> 0.0

  liveTorqueParameters.totalBucketPoints (42 diffs)
    frame 193: 5.0 -> 3.0
    frame 194: 10.0 -> 8.0
    frame 195: 15.0 -> 13.0
    frame 196: 20.0 -> 18.0
    frame 197: 25.0 -> 23.0
    frame 198: 30.0 -> 28.0
    frame 199: 35.0 -> 33.0
    frame 200: 40.0 -> 38.0
    frame 201: 45.0 -> 43.0
    frame 202: 49.0 -> 47.0
    (... 32 more)

TOYOTA3 - regen1455E3B4BDF|2025-04-09--03-26-06--0 [lagd]

  liveDelay.calPerc (106 diffs)
    frame 134: 3 -> 4
    frame 135: 3 -> 4
    frame 136: 3 -> 4
    frame 137: 3 -> 4
    frame 138: 3 -> 4
    frame 139: 4 -> 5
    frame 140: 4 -> 5
    frame 141: 4 -> 5
    frame 142: 4 -> 5
    frame 143: 4 -> 5
    (... 96 more)

  liveDelay.lateralDelayEstimate (125 diffs)
    frame 115: 0.3147554099559784 -> 0.35829082131385803
    frame 116: 0.31393447518348694 -> 0.35703137516975403
    frame 117: 0.31345033645629883 -> 0.35649651288986206
    frame 118: 0.313198983669281 -> 0.35616254806518555
    frame 119: 0.31252846121788025 -> 0.355636328458786
    frame 120: 0.3117685317993164 -> 0.35481882095336914
    frame 121: 0.3110430836677551 -> 0.3539356291294098
    frame 122: 0.31061848998069763 -> 0.3534017503261566
    frame 123: 0.3105960488319397 -> 0.3534015715122223
    frame 124: 0.31060025095939636 -> 0.3533826172351837
    (... 115 more)

  liveDelay.validBlocks (17 diffs)
    frame 223: 0 -> 1
    frame 224: 0 -> 1
    frame 225: 0 -> 1
    frame 226: 0 -> 1
    frame 227: 0 -> 1
    frame 228: 0 -> 1
    frame 229: 0 -> 1
    frame 230: 0 -> 1
    frame 231: 0 -> 1
    frame 232: 0 -> 1
    (... 7 more)

  valid (1 diffs)
    frame 4: True -> False

HONDA - regenB328FF8BA0A|2025-04-08--22-57-45--0 [lagd]

  valid (1 diffs)
    frame 3: True -> False

HONDA2 - regen6170C8C9A35|2025-04-08--22-57-46--0 [lagd]

  liveDelay.lateralDelayEstimate (3 diffs)
    frame 199: 0.30000001192092896 -> 0.27571922540664673
    frame 200: 0.30000001192092896 -> 0.27649736404418945
    frame 201: 0.30000001192092896 -> 0.27755850553512573

  valid (1 diffs)
    frame 3: True -> False

CHRYSLER - regen5B28FC2A437|2025-04-08--23-04-24--0 [lagd]

  liveDelay (message count) (1 diffs)
    frame 0: 240 -> 241

  valid (1 diffs)
    frame 4: True -> False

RAM - regenBF81EA96E08|2025-04-08--23-06-54--0 [lagd]

  liveDelay (message count) (1 diffs)
    frame 0: 240 -> 241

  valid (1 diffs)
    frame 4: True -> False

SUBARU - regen7366F13F6A1|2025-04-08--23-07-07--0 [lagd]

  valid (1 diffs)
    frame 2: True -> False

GM - regen1271097D038|2025-04-09--03-26-00--0 [lagd]

  valid (1 diffs)
    frame 2: True -> False

NISSAN - regen15D60604EAB|2025-04-08--23-06-59--0 [lagd]

  valid (1 diffs)
    frame 3: True -> False

VOLKSWAGEN - regen0F2F06C9539|2025-04-08--23-06-56--0 [lagd]

  liveDelay (message count) (1 diffs)
    frame 0: 240 -> 242

  valid (1 diffs)
    frame 3: True -> False

MAZDA - regenACF84CCF482|2024-08-30--03-21-55--0 [lagd]

  valid (1 diffs)
    frame 3: True -> False

FORD - regen755D8CB1E1F|2025-04-08--23-13-43--0 [lagd]

  valid (1 diffs)
    frame 2: True -> False

RIVIAN - regen5FCAC896BBE|2025-04-08--23-13-35--0 [lagd]

  liveDelay.lateralDelayEstimate (24 diffs)
    frame 216: 0.3499999940395355 -> 0.2697907090187073
    frame 217: 0.3499999940395355 -> 0.2683514654636383
    frame 218: 0.3499999940395355 -> 0.2683514654636383
    frame 219: 0.3499999940395355 -> 0.2683514654636383
    frame 220: 0.3499999940395355 -> 0.2683514654636383
    frame 221: 0.3499999940395355 -> 0.2683514654636383
    frame 222: 0.3499999940395355 -> 0.2683514654636383
    frame 223: 0.3499999940395355 -> 0.2683514654636383
    frame 224: 0.3499999940395355 -> 0.2683514654636383
    frame 225: 0.3499999940395355 -> 0.2683514654636383
    (... 14 more)

  valid (1 diffs)
    frame 3: True -> False