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Honda CarState: clean up unnecessary instance attributes (#22117)

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pull/22156/head
John Belmonte 4 years ago committed by GitHub
parent 308a584def
commit e7c4992900
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1 changed files with 5 additions and 7 deletions
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  1. 12
      selfdrive/car/honda/carstate.py

12
selfdrive/car/honda/carstate.py
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@ -207,7 +207,6 @@ class CarState(CarStateBase):
self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"] self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"]) self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0 self.brake_switch_prev = 0
self.brake_switch_prev_ts = 0 self.brake_switch_prev_ts = 0
self.cruise_setting = 0 self.cruise_setting = 0
@ -290,21 +289,20 @@ class CarState(CarStateBase):
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"]) gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None)) ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
self.pedal_gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] pedal_gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
# crv doesn't include cruise control # crv doesn't include cruise control
if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN): if self.CP.carFingerprint in (CAR.CRV, CAR.CRV_EU, CAR.HRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
ret.gas = self.pedal_gas / 256. ret.gas = pedal_gas / 256.
else: else:
ret.gas = cp.vl["GAS_PEDAL_2"]["CAR_GAS"] / 256. ret.gas = cp.vl["GAS_PEDAL_2"]["CAR_GAS"] / 256.
# this is a hack for the interceptor. This is now only used in the simulation # this is a hack for the interceptor. This is now only used in the simulation
# TODO: Replace tests by toyota so this can go away # TODO: Replace tests by toyota so this can go away
if self.CP.enableGasInterceptor: if self.CP.enableGasInterceptor:
self.user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2. user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
self.user_gas_pressed = self.user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change ret.gasPressed = user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
ret.gasPressed = self.user_gas_pressed
else: else:
ret.gasPressed = self.pedal_gas > 1e-5 ret.gasPressed = pedal_gas > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"] ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"] ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]

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