From 56bc319a295b448a8ce28e365e5dbf9c52d65459 Mon Sep 17 00:00:00 2001 From: qadmus <42746943+qadmus@users.noreply.github.com> Date: Fri, 12 Mar 2021 14:51:20 -0800 Subject: [PATCH] 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 old-commit-hash: ad123714ba8a7f4b41eacf141efd957401b0f601 --- selfdrive/car/gm/carstate.py | 14 +++++++++----- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py index 7ec7679f8c..a59740c6fd 100644 --- a/selfdrive/car/gm/carstate.py +++ b/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), diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d688237be3..25e1168bd9 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -31aa88edbb3badbbf2d21c7ffd0ba38f9bb1ae2d \ No newline at end of file +e74d4020420151c92b545e45d09d67719b91c901 \ No newline at end of file