Add GM steering rate and EPS torque to CarState (#20319)

* Add GM steering rate and EPS torque to CarState

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

selfdrive/car/gm/carstate.py

@@ -28,7 +28,6 @@ class CarState(CarStateBase):
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
 
-    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL"]['PRNDL'], None))
     ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]['BrakePedalPosition'] / 0xd0
     # Brake pedal's potentiometer returns near-zero reading even when pedal is not pressed.
@@ -38,9 +37,16 @@ class CarState(CarStateBase):
     ret.gas = pt_cp.vl["AcceleratorPedal"]['AcceleratorPedal'] / 254.
     ret.gasPressed = ret.gas > 1e-5
 
+    ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelAngle']
+    ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]['SteeringWheelRate']
     ret.steeringTorque = pt_cp.vl["PSCMStatus"]['LKADriverAppldTrq']
+    ret.steeringTorqueEps = pt_cp.vl["PSCMStatus"]['LKATorqueDelivered']
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
 
+    # 0 inactive, 1 active, 2 temporarily limited, 3 failed
+    self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
+    ret.steerWarning = self.lkas_status not in [0, 1]
+
     # 1 - open, 0 - closed
     ret.doorOpen = (pt_cp.vl["BCMDoorBeltStatus"]['FrontLeftDoor'] == 1 or
                     pt_cp.vl["BCMDoorBeltStatus"]['FrontRightDoor'] == 1 or
@@ -65,10 +71,6 @@ class CarState(CarStateBase):
     ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
     ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
 
-    # 0 - inactive, 1 - active, 2 - temporary limited, 3 - failed
-    self.lkas_status = pt_cp.vl["PSCMStatus"]['LKATorqueDeliveredStatus']
-    ret.steerWarning = self.lkas_status not in [0, 1]
-
     return ret
 
   @staticmethod
@@ -88,12 +90,14 @@ class CarState(CarStateBase):
       ("CruiseState", "AcceleratorPedal2", 0),
       ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
       ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
+      ("SteeringWheelRate", "PSCMSteeringAngle", 0),
       ("FLWheelSpd", "EBCMWheelSpdFront", 0),
       ("FRWheelSpd", "EBCMWheelSpdFront", 0),
       ("RLWheelSpd", "EBCMWheelSpdRear", 0),
       ("RRWheelSpd", "EBCMWheelSpdRear", 0),
       ("PRNDL", "ECMPRDNL", 0),
       ("LKADriverAppldTrq", "PSCMStatus", 0),
+      ("LKATorqueDelivered", "PSCMStatus", 0),
       ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
       ("TractionControlOn", "ESPStatus", 0),
       ("EPBClosed", "EPBStatus", 0),

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-31aa88edbb3badbbf2d21c7ffd0ba38f9bb1ae2d
+e74d4020420151c92b545e45d09d67719b91c901