Abstract gasPressed for all cars (#1151)

* min_steer_speed alert (with adjusted hysteresis) for all cars, abstracted gas pre_enable event

* move lines a bit

* more GM cleanup

* typo

* move espDisabled to carState packet

* brought back min steer speed alert only in hyundai. It's a bit tricky and behavior should be changed

* ops, wrong change

* bug

* update cereal

* update ref

cereal

@@ -1 +1 @@
-Subproject commit bb13121282b8c0800e808b4b27d0e0ac4a770f93
+Subproject commit b2e2e071510754a1b6767e35e8129b0e13e36187

selfdrive/car/chrysler/carstate.py

@@ -30,7 +30,7 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
     ret.gasPressed = ret.gas > 1e-5
 
-    self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
+    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
 
     ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
     ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']

selfdrive/car/ford/interface.py

@@ -72,9 +72,6 @@ class CarInterface(CarInterfaceBase):
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
       events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
 

selfdrive/car/gm/carstate.py

@@ -9,7 +9,6 @@ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                     STEER_THRESHOLD, SUPERCRUISE_CARS
 
 
-
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
@@ -57,15 +56,13 @@ class CarState(CarStateBase):
     if self.car_fingerprint in SUPERCRUISE_CARS:
       self.park_brake = False
       ret.cruiseState.available = False
-      self.acc_active = pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive']
-      self.esp_disabled = False
+      ret.espDisabled = False
       regen_pressed = False
-      self.pcm_acc_status = int(self.acc_active)
+      self.pcm_acc_status = int(pt_cp.vl["ASCMActiveCruiseControlStatus"]['ACCCmdActive'])
     else:
       self.park_brake = pt_cp.vl["EPBStatus"]['EPBClosed']
       ret.cruiseState.available = bool(pt_cp.vl["ECMEngineStatus"]['CruiseMainOn'])
-      self.acc_active = False
-      self.esp_disabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
+      ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
       self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
       if self.car_fingerprint == CAR.VOLT:
         regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])

selfdrive/car/gm/interface.py

@@ -10,10 +10,6 @@ from selfdrive.car.interfaces import CarInterfaceBase
 ButtonType = car.CarState.ButtonEvent.Type
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    self.acc_active_prev = 0
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -166,9 +162,9 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret)
 
     if self.CS.car_fingerprint in SUPERCRUISE_CARS:
-      if self.CS.acc_active and not self.acc_active_prev:
+      if ret.cruiseState.enabled and not self.cruise_enabled_prev:
         events.append(create_event('pcmEnable', [ET.ENABLE]))
-      if not self.CS.acc_active:
+      if not ret.cruiseState.enabled:
         events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
 
     else:
@@ -181,8 +177,6 @@ class CarInterface(CarInterfaceBase):
       if (ret.gasPressed and not self.gas_pressed_prev) or \
         (ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
         events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-      if ret.gasPressed:
-        events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
       if ret.cruiseState.standstill:
         events.append(create_event('resumeRequired', [ET.WARNING]))
       if self.CS.pcm_acc_status == AccState.FAULTED:
@@ -200,7 +194,7 @@ class CarInterface(CarInterfaceBase):
     ret.events = events
 
     # update previous brake/gas pressed
-    self.acc_active_prev = self.CS.acc_active
+    self.cruise_enabled_prev = ret.cruiseState.enabled
     self.gas_pressed_prev = ret.gasPressed
     self.brake_pressed_prev = ret.brakePressed
 

selfdrive/car/honda/carstate.py

@@ -199,7 +199,7 @@ class CarState(CarStateBase):
       self.brake_error = 0
     else:
       self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
-    self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
+    ret.espDisabled = cp.vl["VSA_STATUS"]['ESP_DISABLED'] != 0
 
     speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
     ret.wheelSpeeds.fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor

selfdrive/car/honda/interface.py

@@ -455,9 +455,6 @@ class CarInterface(CarInterfaceBase):
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     # it can happen that car cruise disables while comma system is enabled: need to
     # keep braking if needed or if the speed is very low
     if self.CP.enableCruise and not ret.cruiseState.enabled and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):

selfdrive/car/hyundai/carstate.py

@@ -52,6 +52,7 @@ class CarState(CarStateBase):
       pedal_gas = cp.vl["EMS12"]['TPS']
     ret.gasPressed = pedal_gas > 1e-3
     ret.gas = cp.vl["EMS12"]['TPS']
+    ret.espDisabled = cp.vl["TCS15"]['ESC_Off_Step'] != 0
 
     # Gear Selecton - This is not compatible with all Kia/Hyundai's, But is the best way for those it is compatible with
     gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -100,7 +101,6 @@ class CarState(CarStateBase):
     # save the entire LKAS11 and CLU11
     self.lkas11 = cp_cam.vl["LKAS11"]
     self.clu11 = cp.vl["CLU11"]
-    self.esp_disabled = cp.vl["TCS15"]['ESC_Off_Step']
     self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
     self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] #0 NOT ACTIVE, 1 ACTIVE
     self.steer_warning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail']

selfdrive/car/hyundai/interface.py

@@ -7,10 +7,6 @@ from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness,
 from selfdrive.car.interfaces import CarInterfaceBase
 
 class CarInterface(CarInterfaceBase):
-  def __init__(self, CP, CarController, CarState):
-    super().__init__(CP, CarController, CarState)
-
-    self.low_speed_alert = False
 
   @staticmethod
   def compute_gb(accel, speed):
@@ -103,18 +99,11 @@ class CarInterface(CarInterfaceBase):
     self.cp_cam.update_strings(can_strings)
 
     ret = self.CS.update(self.cp, self.cp_cam)
-
     ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
 
     # TODO: button presses
     ret.buttonEvents = []
 
-    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
-    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
-      self.low_speed_alert = True
-    if ret.vEgo > (self.CP.minSteerSpeed + 4.):
-      self.low_speed_alert = False
-
     events = self.create_common_events(ret)
 
     if ret.cruiseState.enabled and not self.cruise_enabled_prev:
@@ -127,9 +116,11 @@ class CarInterface(CarInterfaceBase):
       (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
+    # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
+    if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
+      self.low_speed_alert = True
+    if ret.vEgo > (self.CP.minSteerSpeed + 4.):
+      self.low_speed_alert = False
     if self.low_speed_alert:
       events.append(create_event('belowSteerSpeed', [ET.WARNING]))
 

selfdrive/car/interfaces.py

@@ -20,6 +20,7 @@ class CarInterfaceBase():
     self.gas_pressed_prev = False
     self.brake_pressed_prev = False
     self.cruise_enabled_prev = False
+    self.low_speed_alert = False
 
     self.CS = CarState(CP)
     self.cp = self.CS.get_can_parser(CP)
@@ -93,14 +94,16 @@ class CarInterfaceBase():
       events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
     if not cs_out.cruiseState.available:
       events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
+    if cs_out.espDisabled:
+      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+    if cs_out.gasPressed:
+      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # TODO: move this stuff to the capnp strut
     if getattr(self.CS, "steer_error", False):
       events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
     elif getattr(self.CS, "steer_warning", False):
       events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
-    if getattr(self.CS, "esp_disabled", False):
-      events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
 
     return events
 

selfdrive/car/subaru/interface.py

@@ -75,9 +75,6 @@ class CarInterface(CarInterfaceBase):
     if (ret.gasPressed and not self.gas_pressed_prev):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     ret.events = events
 
     self.gas_pressed_prev = ret.gasPressed

selfdrive/car/toyota/carstate.py

@@ -86,7 +86,7 @@ class CarState(CarStateBase):
       ret.genericToggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
     ret.stockAeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
-    self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
+    ret.espDisabled = cp.vl["ESP_CONTROL"]['TC_DISABLED'] != 0
     # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
     self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
     self.steer_warning = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]

selfdrive/car/toyota/interface.py

@@ -323,9 +323,6 @@ class CarInterface(CarInterfaceBase):
        (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
 
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-
     ret.events = events
 
     self.gas_pressed_prev = ret.gasPressed

selfdrive/car/volkswagen/carstate.py

@@ -116,7 +116,7 @@ class CarState(CarStateBase):
 
     # Additional safety checks performed in CarInterface.
     self.parkingBrakeSet = bool(pt_cp.vl["Kombi_01"]['KBI_Handbremse']) # FIXME: need to include an EPB check as well
-    self.esp_disabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
+    ret.espDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv'] != 0
 
     return ret
 

selfdrive/car/volkswagen/interface.py

@@ -119,8 +119,6 @@ class CarInterface(CarInterfaceBase):
     if (ret.gasPressed and not self.gas_pressed_prev) or \
             (ret.brakePressed and (not self.brake_pressed_prev or not ret.standstill)):
       events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
-    if ret.gasPressed:
-      events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
 
     # Engagement and longitudinal control using stock ACC. Make sure OP is
     # disengaged if stock ACC is disengaged.

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-0491cad238025a44b7fc636cf03efc27d80dcdae
+bc912a9ead7664ae4e393a7dc7cd38ba733dd694