rename enableCruise -> pcmCruise (#21546)

old-commit-hash: cb7e96f99d

cereal

@@ -1 +1 @@
-Subproject commit b372ab3ae1a3a1097e1de87e3092ca4b05cd0471
+Subproject commit 2f64d4902eb033d027c4265db33ac8ec91e1e9eb

selfdrive/car/gm/interface.py

@@ -20,7 +20,7 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyModel = car.CarParams.SafetyModel.gm
-    ret.enableCruise = False  # stock cruise control is kept off
+    ret.pcmCruise = False  # stock cruise control is kept off
 
     # GM port is a community feature
     # TODO: make a port that uses a car harness and it only intercepts the camera

selfdrive/car/honda/carcontroller.py

@@ -104,7 +104,7 @@ class CarController():
 
     # Never send cancel command if we never enter cruise state (no cruise if pedal)
     # Cancel cmd causes brakes to release at a standstill causing grinding
-    pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.enableCruise
+    pcm_cancel_cmd = pcm_cancel_cmd and CS.CP.pcmCruise
 
     # *** rate limit after the enable check ***
     self.brake_last = rate_limit(brake, self.brake_last, -2., DT_CTRL)

selfdrive/car/honda/interface.py

@@ -135,14 +135,14 @@ class CarInterface(CarInterfaceBase):
       # WARNING: THIS DISABLES AEB!
       ret.openpilotLongitudinalControl = Params().get_bool("DisableRadar")
 
-      ret.enableCruise = not ret.openpilotLongitudinalControl
+      ret.pcmCruise = not ret.openpilotLongitudinalControl
       ret.communityFeature = ret.openpilotLongitudinalControl
     else:
       ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
       ret.enableGasInterceptor = 0x201 in fingerprint[0]
       ret.openpilotLongitudinalControl = True
 
-      ret.enableCruise = not ret.enableGasInterceptor
+      ret.pcmCruise = not ret.enableGasInterceptor
       ret.communityFeature = ret.enableGasInterceptor
 
     if candidate == CAR.CRV_5G:
@@ -509,7 +509,7 @@ class CarInterface(CarInterfaceBase):
     ret.buttonEvents = buttonEvents
 
     # events
-    events = self.create_common_events(ret, pcm_enable=self.CP.enableCruise)
+    events = self.create_common_events(ret, pcm_enable=self.CP.pcmCruise)
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
     if self.CS.brake_hold and self.CS.CP.openpilotLongitudinalControl:
@@ -517,12 +517,12 @@ class CarInterface(CarInterfaceBase):
     if self.CS.park_brake:
       events.add(EventName.parkBrake)
 
-    if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
+    if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
 
     # 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 \
+    if self.CP.pcmCruise and not ret.cruiseState.enabled \
        and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
       # non loud alert if cruise disables below 25mph as expected (+ a little margin)
       if ret.vEgo < self.CP.minEnableSpeed + 2.:
@@ -537,7 +537,7 @@ class CarInterface(CarInterfaceBase):
 
       # do enable on both accel and decel buttons
       if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
-        if not self.CP.enableCruise:
+        if not self.CP.pcmCruise:
           events.add(EventName.buttonEnable)
 
       # do disable on button down

selfdrive/car/interfaces.py

@@ -69,12 +69,11 @@ class CarInterfaceBase():
     ret.steerMaxV = [1.]
     ret.minSteerSpeed = 0.
 
-    # stock ACC by default
-    ret.enableCruise = True
-    ret.minEnableSpeed = -1.  # enable is done by stock ACC, so ignore this
+    ret.pcmCruise = True     # openpilot's state is tied to the PCM's cruise state on most cars
+    ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
     ret.steerRatioRear = 0.  # no rear steering, at least on the listed cars aboveA
     ret.gasMaxBP = [0.]
-    ret.gasMaxV = [.5]  # half max brake
+    ret.gasMaxV = [.5]       # half max brake
     ret.brakeMaxBP = [0.]
     ret.brakeMaxV = [1.]
     ret.openpilotLongitudinalControl = False

selfdrive/controls/controlsd.py

@@ -356,9 +356,9 @@ class Controls:
     self.v_cruise_kph_last = self.v_cruise_kph
 
     # if stock cruise is completely disabled, then we can use our own set speed logic
-    if not self.CP.enableCruise:
+    if not self.CP.pcmCruise:
       self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
-    elif self.CP.enableCruise and CS.cruiseState.enabled:
+    elif self.CP.pcmCruise and CS.cruiseState.enabled:
       self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 
     # decrease the soft disable timer at every step, as it's reset on
@@ -507,7 +507,7 @@ class Controls:
     CC.actuators = actuators
 
     CC.cruiseControl.override = True
-    CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
+    CC.cruiseControl.cancel = not self.CP.pcmCruise or (not self.enabled and CS.cruiseState.enabled)
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
@@ -516,7 +516,7 @@ class Controls:
     # brake discount removes a sharp nonlinearity
     brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
     speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
-    CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
+    CC.cruiseControl.speedOverride = float(speed_override if self.CP.pcmCruise else 0.0)
     CC.cruiseControl.accelOverride = float(self.CI.calc_accel_override(CS.aEgo, self.a_target,
                                                                        CS.vEgo, self.v_target))