Add ACC faulted status to carState (#24399)

* add accFaulted bool to carState

* same for VW

* remove import

* bump

* move to common

* bump cereal to master

cereal

@@ -1 +1 @@
-Subproject commit c9cdd7e398768252891de2f740ee4f65db9c39da
+Subproject commit 39cbdbfecf542104f71ecb16d2d1dfd7375dbf5b

selfdrive/car/gm/carstate.py

@@ -62,14 +62,14 @@ class CarState(CarStateBase):
     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"]
+    ret.accFaulted = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED
 
     # Regen braking is braking
     if self.car_fingerprint == CAR.VOLT:
       ret.brakePressed = ret.brakePressed or pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
 
-    ret.cruiseState.enabled = self.pcm_acc_status != AccState.OFF
-    ret.cruiseState.standstill = self.pcm_acc_status == AccState.STANDSTILL
+    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
+    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
 
     return ret
 

selfdrive/car/gm/interface.py

@@ -4,8 +4,7 @@ from math import fabs
 
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, \
-                                    AccState, CarControllerParams
+from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
 from selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -190,8 +189,6 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowEngageSpeed)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
-    if self.CS.pcm_acc_status == AccState.FAULTED:
-      events.add(EventName.accFaulted)
     if ret.vEgo < self.CP.minSteerSpeed:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
 

selfdrive/car/interfaces.py

@@ -159,6 +159,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.brakeHold)
     if cs_out.parkingBrake:
       events.add(EventName.parkBrake)
+    if cs_out.accFaulted:
+      events.add(EventName.accFaulted)
 
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1

selfdrive/car/volkswagen/carstate.py

@@ -93,12 +93,11 @@ class CarState(CarStateBase):
     ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
 
     # Update ACC radar status.
-    self.tsk_status = pt_cp.vl["TSK_06"]["TSK_Status"]
-    if self.tsk_status == 2:
+    if pt_cp.vl["TSK_06"]["TSK_Status"] == 2:
       # ACC okay and enabled, but not currently engaged
       ret.cruiseState.available = True
       ret.cruiseState.enabled = False
-    elif self.tsk_status in (3, 4, 5):
+    elif pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5):
       # ACC okay and enabled, currently regulating speed (3) or driver accel override (4) or overrun coast-down (5)
       ret.cruiseState.available = True
       ret.cruiseState.enabled = True
@@ -106,6 +105,7 @@ class CarState(CarStateBase):
       # ACC okay but disabled (1), or a radar visibility or other fault/disruption (6 or 7)
       ret.cruiseState.available = False
       ret.cruiseState.enabled = False
+    ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
 
     # Update ACC setpoint. When the setpoint is zero or there's an error, the
     # radar sends a set-speed of ~90.69 m/s / 203mph.

selfdrive/car/volkswagen/interface.py

@@ -177,10 +177,6 @@ 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.tsk_status in (6, 7):
-      events.add(EventName.accFaulted)
-
     # Low speed steer alert hysteresis logic
     if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = True