add parkingBrake to carState (#23968)

* add parkingBrake to carState

* fix gm

cereal

@@ -1 +1 @@
-Subproject commit e2a813144f93dc58a6cc15627915b23fbfa04d0d
+Subproject commit ad2fe885dab99896908b88e765a5f720bfd79b3b

selfdrive/car/gm/carstate.py

@@ -59,7 +59,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    self.park_brake = pt_cp.vl["EPBStatus"]["EPBClosed"]
+    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"]

selfdrive/car/gm/interface.py

@@ -192,8 +192,6 @@ class CarInterface(CarInterfaceBase):
 
     if ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
-    if self.CS.park_brake:
-      events.add(EventName.parkBrake)
     if ret.cruiseState.standstill:
       events.add(EventName.resumeRequired)
     if self.CS.pcm_acc_status == AccState.FAULTED:

selfdrive/car/honda/carstate.py

@@ -230,11 +230,10 @@ class CarState(CarStateBase):
       250, cp.vl["SCM_FEEDBACK"]["LEFT_BLINKER"], cp.vl["SCM_FEEDBACK"]["RIGHT_BLINKER"])
     ret.brakeHoldActive = cp.vl["VSA_STATUS"]["BRAKE_HOLD_ACTIVE"] == 1
 
+    # TODO: set for all cars
     if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORDH, CAR.CIVIC_BOSCH,
                                   CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-      self.park_brake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
+      ret.parkingBrake = cp.vl["EPB_STATUS"]["EPB_STATE"] != 0
-    else:
-      self.park_brake = 0  # TODO
 
     gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))

selfdrive/car/honda/interface.py

@@ -380,8 +380,6 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, pcm_enable=False)
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
-    if self.CS.park_brake:
-      events.add(EventName.parkBrake)
 
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)

selfdrive/car/hyundai/carstate.py

@@ -70,6 +70,7 @@ class CarState(CarStateBase):
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
     ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
+    ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
 
     if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
       if self.CP.carFingerprint in HYBRID_CAR:
@@ -109,7 +110,6 @@ class CarState(CarStateBase):
     # save the entire LKAS11 and CLU11
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
-    self.park_brake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
     self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons

selfdrive/car/hyundai/interface.py

@@ -302,8 +302,6 @@ class CarInterface(CarInterfaceBase):
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
-    if self.CS.park_brake:
-      events.add(EventName.parkBrake)
 
     if self.CS.CP.openpilotLongitudinalControl:
       buttonEvents = []

selfdrive/car/interfaces.py

@@ -139,6 +139,8 @@ class CarInterfaceBase(ABC):
       events.add(EventName.wrongCruiseMode)
     if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
       events.add(EventName.brakeHold)
+    if cs_out.parkingBrake:
+      events.add(EventName.parkBrake)
 
 
     # Handle permanent and temporary steering faults

selfdrive/car/tests/test_car_interfaces.py

@@ -12,7 +12,6 @@ class TestCarInterfaces(unittest.TestCase):
 
   @parameterized.expand([(car,) for car in all_known_cars()])
   def test_car_interfaces(self, car_name):
-    print(car_name)
     if car_name in FINGERPRINTS:
       fingerprint = FINGERPRINTS[car_name][0]
     else:

selfdrive/car/volkswagen/carstate.py

@@ -49,6 +49,7 @@ 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.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"])  # FIXME: need to include an EPB check as well
     self.esp_hold_confirmation = pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"]
 
     # Update gear and/or clutch position data.
@@ -140,7 +141,6 @@ class CarState(CarStateBase):
     self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
 
     # 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
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
 
     return ret

selfdrive/car/volkswagen/interface.py

@@ -186,8 +186,6 @@ 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.parkingBrakeSet:
-      events.add(EventName.parkBrake)
     if self.CS.tsk_status in (6, 7):
       events.add(EventName.accFaulted)