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add parkingBrake to carState (#23968) 

* add parkingBrake to carState

* fix gm
pull/23970/head
Adeeb Shihadeh 2022-03-14 16:32:20 -07:00 committed by GitHub
parent 8718a59330
commit ae19308e83
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11 changed files with 8 additions and 16 deletions
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2
cereal

@ -1 +1 @@
Subproject commit e2a813144f93dc58a6cc15627915b23fbfa04d0d
Subproject commit ad2fe885dab99896908b88e765a5f720bfd79b3b

2
selfdrive/car/gm/carstate.py
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@ -59,7 +59,7 @@ class CarState(CarStateBase):
ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
ret.parkingBrake = pt_cp.vl["EPBStatus"]["EPBClosed"] == 1
ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]

2
selfdrive/car/gm/interface.py
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@ -192,8 +192,6 @@ class CarInterface(CarInterfaceBase):
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CS.park_brake:
events.add(EventName.parkBrake)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if self.CS.pcm_acc_status == AccState.FAULTED:

5
selfdrive/car/honda/carstate.py
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@ -230,11 +230,10 @@ class CarState(CarStateBase):
250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
# TODO: set for all cars
if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
else:
self.park_brake = 0 # TODO
ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))

2
selfdrive/car/honda/interface.py
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@ -380,8 +380,6 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, pcm_enable=False)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CS.park_brake:
events.add(EventName.parkBrake)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)

2
selfdrive/car/hyundai/carstate.py
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@ -70,6 +70,7 @@ class CarState(CarStateBase):
ret.brake = 0
ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
if self.CP.carFingerprint in HYBRID_CAR:
@ -109,7 +110,6 @@ class CarState(CarStateBase):
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons

2
selfdrive/car/hyundai/interface.py
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@ -302,8 +302,6 @@ class CarInterface(CarInterfaceBase):
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CS.park_brake:
events.add(EventName.parkBrake)
if self.CS.CP.openpilotLongitudinalControl:
buttonEvents = []

2
selfdrive/car/interfaces.py
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@ -139,6 +139,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.wrongCruiseMode)
if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
if cs_out.parkingBrake:
events.add(EventName.parkBrake)
# Handle permanent and temporary steering faults

1
selfdrive/car/tests/test_car_interfaces.py
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@ -12,7 +12,6 @@ class TestCarInterfaces(unittest.TestCase):
@parameterized.expand([(car,) for car in all_known_cars()])
def test_car_interfaces(self, car_name):
print(car_name)
if car_name in FINGERPRINTS:
fingerprint = FINGERPRINTS[car_name][0]
else:

2
selfdrive/car/volkswagen/carstate.py
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@ -49,6 +49,7 @@ class CarState(CarStateBase):
ret.gasPressed = ret.gas > 0
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]
# Update gear and/or clutch position data.
@ -140,7 +141,6 @@ class CarState(CarStateBase):
self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
# Additional safety checks performed in CarInterface.
self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
return ret

2
selfdrive/car/volkswagen/interface.py
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@ -186,8 +186,6 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
# Vehicle health and operation safety checks
if self.CS.parkingBrakeSet:
events.add(EventName.parkBrake)
if self.CS.tsk_status in (6, 7):
events.add(EventName.accFaulted)