long manuevers / model manager

tools/longitudinal_maneuvers/capabilities.py

@@ -3,6 +3,8 @@ from __future__ import annotations
 from dataclasses import asdict, dataclass
 from typing import Any
 
+from opendbc.car.gm.values import GMFlags
+
 
 LOW_SPEED_MANEUVER_DESCRIPTIONS = (
   "come to stop",
@@ -31,12 +33,27 @@ def get_longitudinal_maneuver_support(CP: Any) -> LongitudinalManeuverSupport:
   openpilot_longitudinal = bool(getattr(CP, "openpilotLongitudinalControl", False))
   auto_resume_supported = bool(getattr(CP, "autoResumeSng", False))
 
+  brand = str(getattr(CP, "brand", "") or getattr(CP, "carName", "") or "").lower()
+  fingerprint = str(getattr(CP, "carFingerprint", "") or "")
+  flags = int(getattr(CP, "flags", 0) or 0)
+  has_pedal = bool(getattr(CP, "enableGasInterceptorDEPRECATED", False))
+
   min_enable_speed = float(getattr(CP, "minEnableSpeed", 0.0) or 0.0)
   stop_accel = float(getattr(CP, "stopAccel", 0.0) or 0.0)
 
-  # CarParams does not expose a dedicated "won't fully brake to zero" flag,
-  # so low-speed engagement support is the closest reliable proxy.
+  is_gm = brand == "gm"
+  is_volt = fingerprint.startswith("CHEVROLET_VOLT")
+  has_sascm = is_gm and bool(flags & GMFlags.SASCM.value)
+
+  # CarParams does not expose a dedicated "won't fully brake to zero" flag.
+  # For most platforms, low-speed engagement support is the best proxy.
   full_stop_and_go = min_enable_speed <= 0.0
+
+  # GM Volt without pedal can often engage below 0 mph but still creep instead of
+  # reliably achieving a true stop in these canned maneuvers, especially on SASCM paths.
+  if is_volt and not has_pedal:
+    full_stop_and_go = False
+
   auto_resume_from_stop = full_stop_and_go and auto_resume_supported
   expected_to_reach_zero = full_stop_and_go
   requires_resume_assist = expected_to_reach_zero and not auto_resume_from_stop
@@ -45,10 +62,14 @@ def get_longitudinal_maneuver_support(CP: Any) -> LongitudinalManeuverSupport:
   if not openpilot_longitudinal:
     caveats.append("openpilot longitudinal is disabled, so the maneuver suite cannot drive longitudinal tests on this platform.")
 
-  if not expected_to_reach_zero:
+  if is_volt and not has_pedal:
+    caveats.append("Volt without pedal is not expected to reach a true standstill in the maneuver suite. Stop, start, and creep maneuvers will be skipped.")
+  elif not expected_to_reach_zero:
     caveats.append("This car is not expected to reach a true standstill in the suite. Stop, start, and creep maneuvers will be skipped.")
   elif requires_resume_assist:
     caveats.append("This car can reach a stop, but restart-from-stop needs resume assistance. Zero-speed maneuvers will allow cruise standstill instead of treating it as setup failure.")
+  elif has_sascm and full_stop_and_go:
+    caveats.append("SASCM is present on this GM platform. If a real standstill is reached, restart behavior can still depend on resume handling.")
 
   skipped_maneuvers = LOW_SPEED_MANEUVER_DESCRIPTIONS if not expected_to_reach_zero else ()
 

tools/longitudinal_maneuvers/maneuversd.py

@@ -4,7 +4,7 @@ from dataclasses import dataclass
 
 from cereal import messaging, car
 from openpilot.common.constants import CV
-from openpilot.common.realtime import DT_MDL
+from openpilot.common.realtime import DT_MDL, Priority, config_realtime_process
 from openpilot.common.params import Params
 from openpilot.common.swaglog import cloudlog
 from openpilot.tools.longitudinal_maneuvers.capabilities import (
@@ -134,6 +134,8 @@ def build_maneuvers():
 
 
 def main():
+  config_realtime_process(5, Priority.CTRL_LOW)
+
   params = Params()
   cloudlog.info("joystickd is waiting for CarParams")
   CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
@@ -147,7 +149,7 @@ def main():
       continue
     supported_maneuvers.append(maneuver)
 
-  sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'selfdriveState', 'modelV2'], poll='modelV2')
+  sm = messaging.SubMaster(['carState', 'carControl', 'modelV2'], poll='modelV2')
   pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'alertDebug'])
 
   maneuvers = iter(supported_maneuvers)
@@ -163,7 +165,7 @@ def main():
     alert_msg.valid = True
 
     plan_send = messaging.new_message('longitudinalPlan')
-    plan_send.valid = sm.all_checks()
+    plan_send.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
 
     longitudinalPlan = plan_send.longitudinalPlan
     accel = 0
@@ -184,6 +186,8 @@ def main():
 
     longitudinalPlan.aTarget = accel
     longitudinalPlan.shouldStop = v_ego < CP.vEgoStopping and accel < 1e-2
+    longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
+    longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
 
     longitudinalPlan.allowBrake = True
     longitudinalPlan.allowThrottle = True
@@ -194,7 +198,7 @@ def main():
     pm.send('longitudinalPlan', plan_send)
 
     assistance_send = messaging.new_message('driverAssistance')
-    assistance_send.valid = True
+    assistance_send.valid = sm.all_checks(['carState', 'carControl', 'modelV2'])
     pm.send('driverAssistance', assistance_send)
 
     if maneuver is not None and maneuver.finished: