mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-07-01 19:42:07 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source 
old-commit-hash: e7c49929009d3d9f443ec1c36f4551b42187c85e
This commit is contained in:
John Belmonte
2021-09-04 01:43:30 +09:00
committed by GitHub
parent 63bd138cd8
commit 03f3b49f1e
1 changed files with 5 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/honda/carstate.py
+5 -7
View File
@@ -207,7 +207,6 @@ class CarState(CarStateBase):
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.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_prev_ts = 0
self.cruise_setting = 0
@@ -290,21 +289,20 @@ class CarState(CarStateBase):
gear = int(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"])
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
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:
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
# TODO: Replace tests by toyota so this can go away
if self.CP.enableGasInterceptor:
self.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 = self.user_gas_pressed
user_gas = (cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS"] + cp.vl["GAS_SENSOR"]["INTERCEPTOR_GAS2"]) / 2.
ret.gasPressed = user_gas > 1e-5 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
else:
ret.gasPressed = self.pedal_gas > 1e-5
ret.gasPressed = pedal_gas > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringTorqueEps = cp.vl["STEER_MOTOR_TORQUE"]["MOTOR_TORQUE"]