Remove Cadillac CT6 port (#1359)

* remove CT6 port

* dont need this route

* extra char

* fix carcontroller params

selfdrive/car/gm/carcontroller.py

@@ -4,27 +4,19 @@ from common.numpy_fast import interp
 from selfdrive.config import Conversions as CV
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import DBC, SUPERCRUISE_CARS, CanBus
+from selfdrive.car.gm.values import DBC, CanBus
 from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
 class CarControllerParams():
-  def __init__(self, car_fingerprint):
+  def __init__(self):
-    if car_fingerprint in SUPERCRUISE_CARS:
-      self.STEER_MAX = 150
-      self.STEER_STEP = 1              # how often we update the steer cmd
-      self.STEER_DELTA_UP = 2          # 0.75s time to peak torque
-      self.STEER_DELTA_DOWN = 5        # 0.3s from peak torque to zero
-      self.MIN_STEER_SPEED = -1.       # can steer down to zero
-    else:
     self.STEER_MAX = 300
     self.STEER_STEP = 2              # how often we update the steer cmd
     self.STEER_DELTA_UP = 7          # ~0.75s time to peak torque (255/50hz/0.75s)
     self.STEER_DELTA_DOWN = 17       # ~0.3s from peak torque to zero
     self.MIN_STEER_SPEED = 3.
-
     self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
     self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 100     # from dbc
@@ -61,23 +53,15 @@ def actuator_hystereses(final_pedal, pedal_steady):
 
   return final_pedal, pedal_steady
 
-def process_hud_alert(hud_alert):
-  # initialize to no alert
-  steer = 0
-  if hud_alert == VisualAlert.steerRequired:
-    steer = 1
-  return steer
-
 class CarController():
   def __init__(self, dbc_name, CP, VM):
     self.pedal_steady = 0.
     self.start_time = 0.
     self.apply_steer_last = 0
-    self.car_fingerprint = CP.carFingerprint
     self.lka_icon_status_last = (False, False)
     self.steer_rate_limited = False
 
-    self.params = CarControllerParams(CP.carFingerprint)
+    self.params = CarControllerParams()
 
     self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
@@ -90,9 +74,6 @@ class CarController():
     # Send CAN commands.
     can_sends = []
 
-    alert_out = process_hud_alert(hud_alert)
-    steer = alert_out
-
     ### STEER ###
 
     if (frame % P.STEER_STEP) == 0:
@@ -107,16 +88,11 @@ class CarController():
       self.apply_steer_last = apply_steer
       idx = (frame // P.STEER_STEP) % 4
 
-      if self.car_fingerprint in SUPERCRUISE_CARS:
-        can_sends += gmcan.create_steering_control_ct6(self.packer_pt,
-          CanBus, apply_steer, CS.out.vEgo, idx, lkas_enabled)
-      else:
       can_sends.append(gmcan.create_steering_control(self.packer_pt,
         CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
     ### GAS/BRAKE ###
 
-    if self.car_fingerprint not in SUPERCRUISE_CARS:
     # no output if not enabled, but keep sending keepalive messages
     # treat pedals as one
     final_pedal = actuators.gas - actuators.brake
@@ -176,7 +152,8 @@ class CarController():
     lka_icon_status = (lka_active, lka_critical)
     if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
         or lka_icon_status != self.lka_icon_status_last:
-        can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer))
+      steer_alert = hud_alert == VisualAlert.steerRequired
+      can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
 
     return can_sends

selfdrive/car/gm/carstate.py

@@ -6,7 +6,7 @@ from opendbc.can.parser import CANParser
 from selfdrive.car.interfaces import CarStateBase
 from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
                                     CruiseButtons, is_eps_status_ok, \
-                                    STEER_THRESHOLD, SUPERCRUISE_CARS
+                                    STEER_THRESHOLD
 
 
 class CarState(CarStateBase):
@@ -53,21 +53,14 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]['TurnSignals'] == 2
 
-    if self.car_fingerprint in SUPERCRUISE_CARS:
-      self.park_brake = False
-      ret.cruiseState.available = False
-      ret.espDisabled = False
-      regen_pressed = False
-      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'])
     ret.espDisabled = pt_cp.vl["ESPStatus"]['TractionControlOn'] != 1
     self.pcm_acc_status = pt_cp.vl["AcceleratorPedal2"]['CruiseState']
+
+    regen_pressed = False
     if self.car_fingerprint == CAR.VOLT:
       regen_pressed = bool(pt_cp.vl["EBCMRegenPaddle"]['RegenPaddle'])
-      else:
-        regen_pressed = False
 
     # Regen braking is braking
     ret.brakePressed = ret.brake > 1e-5 or regen_pressed
@@ -94,6 +87,7 @@ class CarState(CarStateBase):
       ("RightSeatBelt", "BCMDoorBeltStatus", 0),
       ("TurnSignals", "BCMTurnSignals", 0),
       ("AcceleratorPedal", "AcceleratorPedal", 0),
+      ("CruiseState", "AcceleratorPedal2", 0),
       ("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
       ("SteeringWheelAngle", "PSCMSteeringAngle", 0),
       ("FLWheelSpd", "EBCMWheelSpdFront", 0),
@@ -103,22 +97,14 @@ class CarState(CarStateBase):
       ("PRNDL", "ECMPRDNL", 0),
       ("LKADriverAppldTrq", "PSCMStatus", 0),
       ("LKATorqueDeliveredStatus", "PSCMStatus", 0),
+      ("TractionControlOn", "ESPStatus", 0),
+      ("EPBClosed", "EPBStatus", 0),
+      ("CruiseMainOn", "ECMEngineStatus", 0),
     ]
 
     if CP.carFingerprint == CAR.VOLT:
       signals += [
         ("RegenPaddle", "EBCMRegenPaddle", 0),
       ]
-    if CP.carFingerprint in SUPERCRUISE_CARS:
-      signals += [
-        ("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
-      ]
-    else:
-      signals += [
-        ("TractionControlOn", "ESPStatus", 0),
-        ("EPBClosed", "EPBStatus", 0),
-        ("CruiseMainOn", "ECMEngineStatus", 0),
-        ("CruiseState", "AcceleratorPedal2", 0),
-      ]
 
     return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)

selfdrive/car/gm/gmcan.py

@@ -11,32 +11,6 @@ def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
 
   return packer.make_can_msg("ASCMLKASteeringCmd", bus, values)
 
-def create_steering_control_ct6(packer, CanBus, apply_steer, v_ego, idx, enabled):
-
-  values = {
-    "LKASteeringCmdActive": 1 if enabled else 0,
-    "LKASteeringCmd": apply_steer,
-    "RollingCounter": idx,
-    "SetMe1": 1,
-    "LKASVehicleSpeed": abs(v_ego * 3.6),
-    "LKASMode": 2 if enabled else 0,
-    "LKASteeringCmdChecksum": 0  # assume zero and then manually compute it
-  }
-
-  dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
-  # the checksum logic is weird
-  values['LKASteeringCmdChecksum'] = (0x2a +
-                                      sum(dat[:4]) +
-                                      values['LKASMode']) & 0x3ff
-  # pack again with checksum
-  dat = packer.make_can_msg("ASCMLKASteeringCmd", 0, values)[2]
-
-  return [0x152, 0, dat, CanBus.POWERTRAIN], \
-         [0x154, 0, dat, CanBus.POWERTRAIN], \
-         [0x151, 0, dat, CanBus.CHASSIS], \
-         [0x153, 0, dat, CanBus.CHASSIS]
-
-
 def create_adas_keepalive(bus):
   dat = b"\x00\x00\x00\x00\x00\x00\x00"
   return [make_can_msg(0x409, dat, bus), make_can_msg(0x40a, dat, bus)]
@@ -147,47 +121,3 @@ def create_lka_icon_command(bus, active, critical, steer):
     dat = b"\x00\x00\x00"
   return make_can_msg(0x104c006c, dat, bus)
 
-# TODO: WIP
-'''
-def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):
-
-  # counters loops across [0, 29, 42, 55] but checksum only considers 0, 1, 2, 3
-  cntrs = [0, 29, 42, 55]
-  if apply_brake == 0:
-    mode = 0x1
-  else:
-    mode = 0xa
-
-    if at_full_stop:
-      mode = 0xd
-    elif near_stop:
-      mode = 0xb
-
-  brake = (0x1000 - apply_brake) & 0xfff
-  checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
-
-  values = {
-    "RollingCounter" : cntrs[idx],
-    "FrictionBrakeMode" : mode,
-    "FrictionBrakeChecksum": checksum,
-    "FrictionBrakeCmd" : -apply_brake
-  }
-
-  dat = packer.make_can_msg("EBCMFrictionBrakeCmd", 0, values)[2]
-  # msg is 0x315 but we are doing the panda forwarding
-  return make_can_msg(0x314, dat, 2)
-
-def create_gas_regen_command_ct6(bus, throttle, idx, acc_engaged, at_full_stop):
-  cntrs = [0, 7, 10, 13]
-  eng_bit = 1 if acc_engaged else 0
-  gas_high = (throttle >> 8) | 0x80
-  gas_low = (throttle) & 0xff
-  full_stop = 0x20 if at_full_stop else 0
-
-  chk1 = (0x100 - gas_high - 1) & 0xff
-  chk2 = (0x100 - gas_low - idx) & 0xff
-  dat = [(idx << 6) | eng_bit, 0xc2 | full_stop, gas_high, gas_low,
-         (1 - eng_bit) | (cntrs[idx] << 1), 0x5d - full_stop, chk1, chk2]
-  return make_can_msg(0x2cb, "".join(map(chr, dat)), bus)
-
-'''

selfdrive/car/gm/interface.py

@@ -3,7 +3,7 @@ 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.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
-                                    SUPERCRUISE_CARS, AccState, FINGERPRINTS
+                                    AccState, FINGERPRINTS
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -29,9 +29,7 @@ class CarInterface(CarInterfaceBase):
     # Presence of a camera on the object bus is ok.
     # Have to go to read_only if ASCM is online (ACC-enabled cars),
     # or camera is on powertrain bus (LKA cars without ACC).
-    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
+    ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
-                       has_relay or \
-                       candidate == CAR.CADILLAC_CT6
     ret.openpilotLongitudinalControl = ret.enableCamera
     tire_stiffness_factor = 0.444  # not optimized yet
 
@@ -93,16 +91,6 @@ class CarInterface(CarInterfaceBase):
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.49
 
-    elif candidate == CAR.CADILLAC_CT6:
-      # engage speed is decided by pcm
-      ret.minEnableSpeed = -1.
-      ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
-      ret.safetyModel = car.CarParams.SafetyModel.cadillac
-      ret.wheelbase = 3.11
-      ret.steerRatio = 14.6   # it's 16.3 without rear active steering
-      ret.steerRatioRear = 0. # TODO: there is RAS on this car!
-      ret.centerToFront = ret.wheelbase * 0.465
-
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -159,11 +147,8 @@ class CarInterface(CarInterfaceBase):
 
     ret.buttonEvents = buttonEvents
 
-    supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS
+    events = self.create_common_events(ret, pcm_enable=False)
-    events = self.create_common_events(ret, pcm_enable=supercruise)
 
-    if not supercruise:
-      # TODO: why is this only not supercruise? ignore supercruise?
     if ret.vEgo < self.CP.minEnableSpeed:
       events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
     if self.CS.park_brake:

selfdrive/car/gm/values.py

@@ -6,13 +6,10 @@ class CAR:
   HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
   VOLT = "CHEVROLET VOLT PREMIER 2017"
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
-  CADILLAC_CT6 = "CADILLAC CT6 SUPERCRUISE 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
 
-SUPERCRUISE_CARS = [CAR.CADILLAC_CT6]
-
 class CruiseButtons:
   INIT        = 0
   UNPRESS     = 1
@@ -34,12 +31,7 @@ class CanBus:
   SW_GMLAN   = 3
 
 def is_eps_status_ok(eps_status, car_fingerprint):
-  valid_eps_status = []
+  return eps_status in [0, 1]
-  if car_fingerprint in SUPERCRUISE_CARS:
-    valid_eps_status += [0, 1, 4, 5, 6]
-  else:
-    valid_eps_status += [0, 1]
-  return eps_status in valid_eps_status
 
 FINGERPRINTS = {
   # Astra BK MY17, ASCM unplugged
@@ -65,9 +57,6 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 368: 3, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 401: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 462: 4, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 491: 2, 493: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1241: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1916: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
-  CAR.CADILLAC_CT6: [{
-    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 336: 1, 338: 6, 340: 6, 352: 5, 354: 5, 356: 8, 368: 3, 372: 5, 381: 8, 386: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 458: 5, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 723: 2, 753: 5, 761: 7, 800: 6, 801: 8, 804: 3, 810: 8, 832: 8, 833: 8, 834: 8, 835: 6, 836: 5, 837: 8, 838: 8, 839: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 884: 8, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 1, 1017: 8, 1019: 2, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1918: 7, 1919: 7, 1934: 7, 2016: 8, 2024: 8
-  }],
   CAR.MALIBU: [
   # Malibu Premier w/ ACC 2017
   {
@@ -93,5 +82,4 @@ DBC = {
   CAR.ACADIA: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
   CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_CT6: dbc_dict('cadillac_ct6_powertrain', 'cadillac_ct6_object', chassis_dbc='cadillac_ct6_chassis'),
 }

selfdrive/test/test_car_models.py

@@ -76,10 +76,6 @@ routes = {
     'carFingerprint': FORD.FUSION,
     'enableCamera': True,
   },
-  "7ed9cdf8d0c5f43e|2018-05-17--09-31-36": {
-    'carFingerprint': GM.CADILLAC_CT6,
-    'enableCamera': True,
-  },
   "c950e28c26b5b168|2018-05-30--22-03-41": {
     'carFingerprint': GM.VOLT,
     'enableCamera': True,