actuators: rename steer to torque (#34724)

* bump

* temp fix

* fix

* forgot these

opendbc_repo

@@ -1 +1 @@
-Subproject commit 706567945a80e0baff18592585d4c1a29e1feea1
+Subproject commit bdcb515ffced5137569bd8f5536829c91356f02c

selfdrive/controls/controlsd.py

@@ -19,13 +19,13 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
 from openpilot.selfdrive.controls.lib.longcontrol import LongControl
 from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
 
-
 State = log.SelfdriveState.OpenpilotState
 LaneChangeState = log.LaneChangeState
 LaneChangeDirection = log.LaneChangeDirection
 
 ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
 
+
 class Controls:
   def __init__(self) -> None:
     self.params = Params()
@@ -44,7 +44,7 @@ class Controls:
     self.desired_curvature = 0.0
 
     self.pose_calibrator = PoseCalibrator()
-    self.calibrated_pose: Pose|None = None
+    self.calibrated_pose: Pose | None = None
 
     self.LoC = LongControl(self.CP)
     self.VM = VehicleModel(self.CP)
@@ -112,9 +112,9 @@ class Controls:
     self.desired_curvature = clip_curvature(CS.vEgo, self.desired_curvature, model_v2.action.desiredCurvature)
     actuators.curvature = float(self.desired_curvature)
     steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
-                                                                            self.steer_limited, self.desired_curvature,
+                                                       self.steer_limited, self.desired_curvature,
-                                                                            self.calibrated_pose) # TODO what if not available
+                                                       self.calibrated_pose)  # TODO what if not available
-    actuators.steer = float(steer)
+    actuators.torque = float(steer)
     actuators.steeringAngleDeg = float(steeringAngleDeg)
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
@@ -164,7 +164,7 @@ class Controls:
         self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
                              STEER_ANGLE_SATURATION_THRESHOLD
       else:
-        self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
+        self.steer_limited = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
 
     # TODO: both controlsState and carControl valids should be set by
     #       sm.all_checks(), but this creates a circular dependency
@@ -212,6 +212,7 @@ class Controls:
       self.publish(CC, lac_log)
       rk.monitor_time()
 
+
 def main():
   config_realtime_process(4, Priority.CTRL_HIGH)
   controls = Controls()

selfdrive/debug/max_lat_accel.py

@@ -48,7 +48,7 @@ def find_events(lr: LogReader, qlog: bool = False) -> list[Event]:
 
     elif msg.which() == 'carOutput':
       # if we test with driver torque safety, max torque can be slightly noisy
-      requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.steer) > 0.95 else 0
+      requesting_max = requesting_max + 1 if abs(msg.carOutput.actuatorsOutput.torque) > 0.95 else 0
 
     elif msg.which() == 'carState':
       steering_unpressed = steering_unpressed + 1 if not msg.carState.steeringPressed else 0

selfdrive/locationd/torqued.py

@@ -167,7 +167,7 @@ class TorqueEstimator(ParameterEstimator):
       self.raw_points["lat_active"].append(msg.latActive)
     elif which == "carOutput":
       self.raw_points["carOutput_t"].append(t + self.lag)
-      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
+      self.raw_points["steer_torque"].append(-msg.actuatorsOutput.torque)
     elif which == "carState":
       self.raw_points["carState_t"].append(t + self.lag)
       # TODO: check if high aEgo affects resulting lateral accel

selfdrive/selfdrived/events.py

@@ -321,7 +321,7 @@ def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 def joystick_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
   gb = sm['carControl'].actuators.accel / 4.
-  steer = sm['carControl'].actuators.steer
+  steer = sm['carControl'].actuators.torque
   vals = f"Gas: {round(gb * 100.)}%, Steer: {round(steer * 100.)}%"
   return NormalPermanentAlert("Joystick Mode", vals)
 

tools/joystick/joystickd.py

@@ -53,8 +53,8 @@ def joystickd_thread():
       max_curvature = MAX_LAT_ACCEL / max(sm['carState'].vEgo ** 2, 5)
       max_angle = math.degrees(VM.get_steer_from_curvature(max_curvature, sm['carState'].vEgo, sm['liveParameters'].roll))
 
-      actuators.steer = float(np.clip(joystick_axes[1], -1, 1))
+      actuators.torque = float(np.clip(joystick_axes[1], -1, 1))
-      actuators.steeringAngleDeg, actuators.curvature = actuators.steer * max_angle, actuators.steer * -max_curvature
+      actuators.steeringAngleDeg, actuators.curvature = actuators.torque * max_angle, actuators.torque * -max_curvature
 
     pm.send('carControl', cc_msg)
 

tools/replay/ui.py

@@ -154,7 +154,7 @@ def ui_thread(addr):
     # TODO gas is deprecated
     plot_arr[-1, name_to_arr_idx['computer_gas']] = clip(sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['user_brake']] = sm['carState'].brake
-    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.steer * ANGLE_SCALE
+    plot_arr[-1, name_to_arr_idx['steer_torque']] = sm['carControl'].actuators.torque * ANGLE_SCALE
     # TODO brake is deprecated
     plot_arr[-1, name_to_arr_idx['computer_brake']] = clip(-sm['carControl'].actuators.accel/4.0, 0.0, 1.0)
     plot_arr[-1, name_to_arr_idx['v_ego']] = sm['carState'].vEgo

tools/tuning/measure_steering_accuracy.py

@@ -47,9 +47,9 @@ class SteeringAccuracyTool:
 
     v_ego = sm['carState'].vEgo
     active = sm['controlsState'].active
-    steer = sm['carOutput'].actuatorsOutput.steer
+    steer = sm['carOutput'].actuatorsOutput.torque
     standstill = sm['carState'].standstill
-    steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
+    steer_limited = abs(sm['carControl'].actuators.torque - sm['carControl'].actuatorsOutput.torque) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['modelV2'].meta.laneChangeState != 0
     model_points = sm['modelV2'].position.y