Deprecate brakeLights field (#20954)

* remove all references to CS.brakeLights

* unused red

* update refs

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

cereal

@@ -1 +1 @@
-Subproject commit 4cfd67776eaf7926bd5abf35668bee8c5faee320
+Subproject commit c429707aefcc960657577abc1895f88ea8adaf06

selfdrive/car/chrysler/carstate.py

@@ -26,7 +26,6 @@ class CarState(CarStateBase):
 
     ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5  # human-only
     ret.brake = 0
-    ret.brakeLights = ret.brakePressed
     ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
     ret.gasPressed = ret.gas > 1e-5
 
@@ -59,7 +58,7 @@ class CarState(CarStateBase):
     ret.steerError = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
     ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
-    
+
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_LEFT'] == 1
       ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]['BLIND_SPOT_RIGHT'] == 1

selfdrive/car/ford/carstate.py

@@ -26,7 +26,6 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["EngineData_14"]['ApedPosScal_Pc_Actl'] / 100.
     ret.gasPressed = ret.gas > 1e-6
     ret.brakePressed = bool(cp.vl["Cruise_Status"]["Brake_Drv_Appl"])
-    ret.brakeLights = bool(cp.vl["BCM_to_HS_Body"]["Brake_Lights"])
     ret.genericToggle = bool(cp.vl["Steering_Buttons"]["Dist_Incr"])
     # TODO: we also need raw driver torque, needed for Assisted Lane Change
     self.lkas_state = cp.vl["Lane_Keep_Assist_Status"]['LaActAvail_D_Actl']
@@ -50,7 +49,6 @@ class CarState(CarStateBase):
       ("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
       ("Dist_Incr", "Steering_Buttons", 0.),
       ("Brake_Drv_Appl", "Cruise_Status", 0.),
-      ("Brake_Lights", "BCM_to_HS_Body", 0.),
     ]
     checks = []
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, enforce_checks=False)

selfdrive/car/honda/interface.py

@@ -450,10 +450,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
     ret.yawRate = self.VM.yaw_rate(ret.steeringAngleDeg * CV.DEG_TO_RAD, ret.vEgo)
-    # FIXME: read sendcan for brakelights
-    brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
-    ret.brakeLights = bool(self.CS.brake_switch or
-                           c.actuators.brake > brakelights_threshold)
 
     buttonEvents = []
 

selfdrive/car/hyundai/carstate.py

@@ -56,9 +56,6 @@ class CarState(CarStateBase):
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]['DriverBraking'] != 0
 
-    # TODO: Check this
-    ret.brakeLights = bool(cp.vl["TCS13"]['BrakeLight'] or ret.brakePressed)
-
     if self.CP.carFingerprint in EV_HYBRID:
       ret.gas = cp.vl["E_EMS11"]['Accel_Pedal_Pos'] / 256.
       ret.gasPressed = ret.gas > 0
@@ -181,7 +178,6 @@ class CarState(CarStateBase):
 
       ("ACCEnable", "TCS13", 0),
       ("ACC_REQ", "TCS13", 0),
-      ("BrakeLight", "TCS13", 0),
       ("DriverBraking", "TCS13", 0),
       ("StandStill", "TCS13", 0),
       ("PBRAKE_ACT", "TCS13", 0),

selfdrive/car/mazda/carstate.py

@@ -47,7 +47,6 @@ class CarState(CarStateBase):
 
     ret.brakePressed = cp.vl["PEDALS"]['BRAKE_ON'] == 1
     ret.brake = cp.vl["BRAKE"]['BRAKE_PRESSURE']
-    ret.brakeLights = ret.brakePressed
 
     ret.seatbeltUnlatched = cp.vl["SEATBELT"]['DRIVER_SEATBELT'] == 0
     ret.doorOpen = any([cp.vl["DOORS"]['FL'], cp.vl["DOORS"]['FR'],

selfdrive/car/nissan/carstate.py

@@ -35,9 +35,6 @@ class CarState(CarStateBase):
     elif self.CP.carFingerprint in [CAR.LEAF, CAR.LEAF_IC]:
       ret.brakePressed = bool(cp.vl["BRAKE_PEDAL"]["BRAKE_PEDAL"] > 3)
 
-    if self.CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
-      ret.brakeLights = bool(cp.vl["DOORS_LIGHTS"]["BRAKE_LIGHT"])
-
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FL"] * CV.KPH_TO_MS
     ret.wheelSpeeds.fr = cp.vl["WHEEL_SPEEDS_FRONT"]["WHEEL_SPEED_FR"] * CV.KPH_TO_MS
     ret.wheelSpeeds.rl = cp.vl["WHEEL_SPEEDS_REAR"]["WHEEL_SPEED_RL"] * CV.KPH_TO_MS
@@ -158,7 +155,6 @@ class CarState(CarStateBase):
     if CP.carFingerprint in [CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA]:
       signals += [
         ("USER_BRAKE_PRESSED", "DOORS_LIGHTS", 1),
-        ("BRAKE_LIGHT", "DOORS_LIGHTS", 1),
 
         ("GAS_PEDAL", "GAS_PEDAL", 0),
         ("SEATBELT_DRIVER_LATCHED", "HUD", 0),

selfdrive/car/subaru/carstate.py

@@ -22,7 +22,6 @@ class CarState(CarStateBase):
       ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 2
     else:
       ret.brakePressed = cp.vl["Brake_Pedal"]['Brake_Pedal'] > 1e-5
-    ret.brakeLights = ret.brakePressed
 
     ret.wheelSpeeds.fl = cp.vl["Wheel_Speeds"]['FL'] * CV.KPH_TO_MS
     ret.wheelSpeeds.fr = cp.vl["Wheel_Speeds"]['FR'] * CV.KPH_TO_MS

selfdrive/car/toyota/carstate.py

@@ -28,7 +28,6 @@ class CarState(CarStateBase):
     ret.seatbeltUnlatched = cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED'] != 0
 
     ret.brakePressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] != 0
-    ret.brakeLights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or ret.brakePressed)
     if self.CP.enableGasInterceptor:
       ret.gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
       ret.gasPressed = ret.gas > 15
@@ -132,7 +131,6 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0),
       ("TURN_SIGNALS", "STEERING_LEVERS", 3),   # 3 is no blinkers
       ("LKA_STATE", "EPS_STATUS", 0),
-      ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
       ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
     ]
 

selfdrive/car/volkswagen/carstate.py

@@ -42,7 +42,6 @@ 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.brakeLights = bool(pt_cp.vl["ESP_05"]['ESP_Status_Bremsdruck'])
 
     # Update gear and/or clutch position data.
     if trans_type == TransmissionType.automatic:
@@ -177,7 +176,6 @@ class CarState(CarStateBase):
       ("AB_Gurtschloss_FA", "Airbag_02", 0),        # Seatbelt status, driver
       ("AB_Gurtschloss_BF", "Airbag_02", 0),        # Seatbelt status, passenger
       ("ESP_Fahrer_bremst", "ESP_05", 0),           # Brake pedal pressed
-      ("ESP_Status_Bremsdruck", "ESP_05", 0),       # Brakes applied
       ("ESP_Bremsdruck", "ESP_05", 0),              # Brake pressure applied
       ("MO_Fahrpedalrohwert_01", "Motor_20", 0),    # Accelerator pedal value
       ("MO_Kuppl_schalter", "Motor_14", 0),         # Clutch switch

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-1b4fcd6a2a06c406d34787b66725b660001266ed
+de4fcc981f5a0ec6c43d9ee0918cdf9c3dbde494

tools/replay/ui.py

@@ -13,7 +13,7 @@ import cereal.messaging as messaging
 from common.basedir import BASEDIR
 from selfdrive.config import UIParams as UP
 from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, _FULL_FRAME_SIZE,
-                                         _INTRINSICS, BLACK, GREEN, RED,
+                                         _INTRINSICS, BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,
                                          maybe_update_radar_points, plot_lead,
@@ -193,7 +193,6 @@ def ui_thread(addr, frame_address):
 
     lines = [
       info_font.render("ENABLED", True, GREEN if sm['controlsState'].enabled else BLACK),
-      info_font.render("BRAKE LIGHTS", True, RED if sm['carState'].brakeLights else BLACK),
       info_font.render("SPEED: " + str(round(sm['carState'].vEgo, 1)) + " m/s", True, YELLOW),
       info_font.render("LONG CONTROL STATE: " + str(sm['controlsState'].longControlState), True, YELLOW),
       info_font.render("LONG MPC SOURCE: " + str(sm['longitudinalPlan'].longitudinalPlanSource), True, YELLOW),