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comma pedal: rename create_gas_command -> create_gas_interceptor_command

pull/22786/head
Adeeb Shihadeh 2021-11-20 20:13:05 -08:00
parent 944fa5fa08
commit b07ddad6ed
3 changed files with 5 additions and 5 deletions
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2
selfdrive/car/__init__.py
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@ -99,7 +99,7 @@ def crc8_pedal(data):
return crc
def create_gas_command(packer, gas_amount, idx):
def create_gas_interceptor_command(packer, gas_amount, idx):
# Common gas pedal msg generator
enable = gas_amount > 0.001

4
selfdrive/car/honda/carcontroller.py
View File

@ -3,7 +3,7 @@ from cereal import car
from common.realtime import DT_CTRL
from selfdrive.controls.lib.drive_helpers import rate_limit
from common.numpy_fast import clip, interp
from selfdrive.car import create_gas_command
from selfdrive.car import create_gas_interceptor_command
from selfdrive.car.honda import hondacan
from selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from opendbc.can.packer import CANPacker
@ -236,7 +236,7 @@ class CarController():
apply_gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
else:
apply_gas = 0.0
can_sends.append(create_gas_command(self.packer, apply_gas, idx))
can_sends.append(create_gas_interceptor_command(self.packer, apply_gas, idx))
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
hud_lanes, fcw_display, acc_alert, steer_required)

4
selfdrive/car/toyota/carcontroller.py
View File

@ -1,6 +1,6 @@
from cereal import car
from common.numpy_fast import clip, interp
from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command, make_can_msg
from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
@ -123,7 +123,7 @@ class CarController():
if frame % 2 == 0 and CS.CP.enableGasInterceptor:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, interceptor_gas_cmd, frame // 2))
can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display