Drop redundant call, use Ecu, move warning to carstate, fix cruise speed

Signed-off-by: Jafar Al-Gharaibeh <to.jafar@gmail.com>
pull/988/head
Jafar Al-Gharaibeh 5 years ago committed by Adeeb Shihadeh
parent a530a4f4d9
commit c5766e9f20
  1. 17
      selfdrive/car/mazda/carstate.py
  2. 9
      selfdrive/car/mazda/interface.py
  3. 8
      selfdrive/car/mazda/values.py

@ -17,7 +17,7 @@ class CarState(CarStateBase):
super().__init__(CP)
self.steer_lkas = STEER_LKAS()
self.cruise_speed = 0
self.acc_active_last = False
self.speed_kph = 0
self.lkas_speed_lock = False
@ -97,7 +97,7 @@ class CarState(CarStateBase):
cp.vl["CRZ_BTNS"]['SET_P'],
cp.vl["CRZ_BTNS"]['SET_M']]):
self.acc_active = True
ret.cruiseState.speed = self.speed_kph
self.cruise_speed = self.speed_kph
if self.low_speed_lockout_last:
self.acc_press_update = True
elif self.acc_press_update:
@ -108,19 +108,24 @@ class CarState(CarStateBase):
self.acc_active = False
if self.acc_active != self.acc_active_last:
ret.cruiseState.speed = self.speed_kph
self.acc_active_last = self.acc_active
ret.cruiseState.enabled = self.acc_active
self.steer_error = False
if ret.cruiseState.enabled:
ret.cruiseState.speed = self.cruise_speed
if self.lkas_speed_lock:
ret.steerWarning = True
else:
ret.cruiseState.speed = 0
self.brake_error = False
self.low_speed_lockout_last = self.low_speed_lockout
#self.steer_not_allowed = self.steer_lkas.block == 1
self.cam_lkas = cp_cam.vl["CAM_LKAS"]
self.steer_error = cp_cam.vl["CAM_LKAS"]['ERR_BIT_1'] == 1
return ret

@ -2,7 +2,7 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.mazda.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, ECU
from selfdrive.car.mazda.values import CAR, FINGERPRINTS, ECU_FINGERPRINT, Ecu
from selfdrive.car.mazda.carstate import CarState
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, is_ecu_disconnected
from selfdrive.car.interfaces import CarInterfaceBase
@ -66,7 +66,7 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
return ret
@ -82,8 +82,6 @@ class CarInterface(CarInterfaceBase):
# TODO: button presses
ret.buttonEvents = []
events = self.create_common_events(ret)
if ret.cruiseState.enabled and self.CS.lkas_speed_lock:
self.low_speed_alert = True
else:
@ -97,9 +95,6 @@ class CarInterface(CarInterfaceBase):
if ret.cruiseState.enabled:
ret.cruiseState.enabled = False
if self.low_speed_alert:
events.append(create_event('belowSteerSpeed', [ET.WARNING]))
if self.CS.steer_lkas.handsoff:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))

@ -1,4 +1,7 @@
from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
# Steer torque limits
@ -55,11 +58,8 @@ FINGERPRINTS = {
}
class ECU:
CAM = 0
ECU_FINGERPRINT = {
ECU.CAM: [579], # steer torque cmd
Ecu.fwdCamera: [579], # steer torque cmd
}

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