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Revert "ICBM?"

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This reverts commit ddd6b1dcb8.
This commit is contained in:
firestar5683
2025-12-20 22:19:17 -06:00
parent ddd6b1dcb8
commit 423dafc2a8
4 changed files with 12 additions and 171 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+3 -23
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@@ -6,9 +6,6 @@ from opendbc.car.gm import gmcan
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
from opendbc.car.interfaces import CarControllerBase
from opendbc.sunnypilot.car.gm.carcontroller_ext import GasInterceptorCarController
from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
from opendbc.sunnypilot.car.gm.icbm import IntelligentCruiseButtonManagementInterface
VisualAlert = structs.CarControl.HUDControl.VisualAlert
NetworkLocation = structs.CarParams.NetworkLocation
@@ -20,7 +17,7 @@ CAMERA_CANCEL_DELAY_FRAMES = 10
MIN_STEER_MSG_INTERVAL_MS = 15
class CarController(CarControllerBase, GasInterceptorCarController, IntelligentCruiseButtonManagementInterface):
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP, CP_SP):
super().__init__(dbc_names, CP, CP_SP)
self.start_time = 0.
@@ -40,9 +37,6 @@ class CarController(CarControllerBase, GasInterceptorCarController, IntelligentC
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint][Bus.radar])
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint][Bus.chassis])
GasInterceptorCarController.__init__(self, CP, CP_SP)
IntelligentCruiseButtonManagementInterface.__init__(self, CP, CP_SP)
def update(self, CC, CC_SP, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
@@ -114,14 +108,8 @@ class CarController(CarControllerBase, GasInterceptorCarController, IntelligentC
at_full_stop = at_full_stop and stopping
friction_brake_bus = CanBus.POWERTRAIN
pedal_interceptor_active = self.CP.enableGasInterceptorDEPRECATED and (self.CP_SP.flags & GMFlagsSP.NON_ACC)
if pedal_interceptor_active:
self.apply_brake = 0
# GasRegenCmdActive needs to reflect whether openpilot is actually commanding longitudinal torque
gas_regen_active = CC.longActive and CC.enabled
if not pedal_interceptor_active:
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, gas_regen_active, at_full_stop))
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
idx, CC.enabled, near_stop, at_full_stop, self.CP))
@@ -160,11 +148,6 @@ class CarController(CarControllerBase, GasInterceptorCarController, IntelligentC
self.last_button_frame = self.frame
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
# Intelligent Cruise Button Management (stock ACC speed nudging)
if self.CP_SP.intelligentCruiseButtonManagementAvailable:
can_sends.extend(IntelligentCruiseButtonManagementInterface.update(
self, CC, CC_SP, CS, self.packer_pt, self.frame, self.last_button_frame))
if self.CP.networkLocation == NetworkLocation.fwdCamera:
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
if self.frame % 10 == 0:
@@ -176,8 +159,5 @@ class CarController(CarControllerBase, GasInterceptorCarController, IntelligentC
new_actuators.gas = self.apply_gas
new_actuators.brake = self.apply_brake
# sunnypilot gas interceptor / NON_ACC extensions
self.extend_with_interceptor(CC, CS, new_actuators, can_sends)
self.frame += 1
return new_actuators, can_sends
opendbc_repo/opendbc/car/gm/interface.py
+9 -52
View File
@@ -10,24 +10,12 @@ from opendbc.car.gm.radar_interface import RadarInterface, RADAR_HEADER_MSG, CAM
from opendbc.car.gm.values import CAR, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, SDGM_CAR, ALT_ACCS, CanBus, GMSafetyFlags
from opendbc.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, LateralAccelFromTorqueCallbackType
from opendbc.sunnypilot.car.gm.interface_ext import CarInterfaceExt
from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP, GMSafetyFlagsSP
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
PEDAL_MSG = 0x201
NON_ACC_ICBM_CARS = {
CAR.CHEVROLET_BOLT_NON_ACC,
CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN,
CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN,
CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN,
CAR.CADILLAC_CT6_NON_ACC_1ST_GEN,
CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
CAR.CADILLAC_XT5_NON_ACC_1ST_GEN,
}
# sunnypilot-specific torque parameters for Bolt cars that actually use the d parameter
NON_LINEAR_TORQUE_PARAMS_SP = {
CAR.CHEVROLET_BOLT_NON_ACC: [2.24, 1.1, 0.28, -0.07],
@@ -42,13 +30,14 @@ NON_LINEAR_TORQUE_PARAMS = {
}
class CarInterface(CarInterfaceBase):
class CarInterface(CarInterfaceBase, CarInterfaceExt):
CarState = CarState
CarController = CarController
RadarInterface = RadarInterface
def __init__(self, CP, CP_SP):
CarInterfaceBase.__init__(self, CP, CP_SP)
CarInterfaceExt.__init__(self, CP, CarInterfaceBase)
@staticmethod
def get_pid_accel_limits(CP, CP_SP, current_speed, cruise_speed):
@@ -113,8 +102,6 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
if PEDAL_MSG in fingerprint[0]:
ret.enableGasInterceptorDEPRECATED = True
if candidate in EV_CAR:
ret.transmissionType = TransmissionType.direct
@@ -162,8 +149,6 @@ class CarInterface(CarInterfaceBase):
# Tuning
ret.longitudinalTuning.kiV = [2.4, 1.5]
ret.intelligentCruiseButtonManagementAvailable = ret.pcmCruise or candidate in NON_ACC_ICBM_CARS
# These cars have been put into dashcam only due to both a lack of users and test coverage.
# These cars likely still work fine. Once a user confirms each car works and a test route is
# added to opendbc/car/tests/routes.py, we can remove it from this list.
@@ -247,27 +232,13 @@ class CarInterface(CarInterfaceBase):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.dashcamOnly = True # Needs steerRatio, tireStiffness, and lat accel factor tuning
if ret.enableGasInterceptorDEPRECATED:
ret.networkLocation = NetworkLocation.fwdCamera
ret.alphaLongitudinalAvailable = True
ret.minEnableSpeed = -1
ret.pcmCruise = False
ret.openpilotLongitudinalControl = True
ret.autoResumeSng = True
ret.safetyConfigs[0].safetyParam |= GMSafetyFlagsSP.GAS_INTERCEPTOR.value
ret.safetyConfigs[0].safetyParam |= GMSafetyFlagsSP.PEDAL_LONG.value
# Pedal interceptor tuning
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
ret.stoppingDecelRate = 0.8
return ret
@staticmethod
def _get_params_sp(stock_cp: structs.CarParams, ret: structs.CarParamsSP, candidate, fingerprint: dict[int, dict[int, int]],
car_fw: list[structs.CarParams.CarFw], alpha_long: bool, is_release_sp: bool, docs: bool) -> structs.CarParamsSP:
if ret.flags & GMFlagsSP.NON_ACC:
if candidate in (CAR.CHEVROLET_MALIBU_NON_ACC_9TH_GEN, CAR.CHEVROLET_BOLT_NON_ACC, CAR.CHEVROLET_BOLT_NON_ACC_1ST_GEN,
CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN):
stock_cp.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, stock_cp.lateralTuning)
@@ -277,29 +248,15 @@ class CarInterface(CarInterfaceBase):
# NON_ACC vehicles should use camera car speed thresholds
if ret.flags & GMFlagsSP.NON_ACC:
stock_cp.dashcamOnly = False
stock_cp.alphaLongitudinalAvailable = False
stock_cp.networkLocation = NetworkLocation.fwdCamera
stock_cp.openpilotLongitudinalControl = False
stock_cp.pcmCruise = True
stock_cp.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM.value
ret.safetyParam |= GMSafetyFlagsSP.NON_ACC.value
ret.safetyParam |= GMSafetyFlagsSP.NON_ACC
stock_cp.minEnableSpeed = 24 * CV.MPH_TO_MS # 24 mph
stock_cp.minSteerSpeed = 3.0 # ~6 mph
# Check if pedal interceptor is present
has_pedal = PEDAL_MSG in fingerprint[0]
if has_pedal:
# With pedal interceptor: enable alpha long, disable PCM cruise
stock_cp.alphaLongitudinalAvailable = True
stock_cp.openpilotLongitudinalControl = True
stock_cp.pcmCruise = False
stock_cp.minEnableSpeed = -1.
ret.safetyParam |= GMSafetyFlagsSP.GAS_INTERCEPTOR.value
ret.safetyParam |= GMSafetyFlagsSP.PEDAL_LONG.value
else:
# Without pedal interceptor: disable longitudinal
stock_cp.alphaLongitudinalAvailable = False
stock_cp.openpilotLongitudinalControl = False
stock_cp.pcmCruise = True
# dashcamOnly platforms: untested platforms, need user validations
if candidate in (CAR.CHEVROLET_BOLT_NON_ACC_2ND_GEN, CAR.CHEVROLET_EQUINOX_NON_ACC_3RD_GEN,
CAR.CHEVROLET_SUBURBAN_NON_ACC_11TH_GEN, CAR.CADILLAC_CT6_NON_ACC_1ST_GEN, CAR.CHEVROLET_TRAILBLAZER_NON_ACC_2ND_GEN,
opendbc_repo/opendbc/sunnypilot/car/gm/carcontroller_ext.py
-15
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@@ -1,15 +0,0 @@
"""
Minimal GM carcontroller extensions for branches without pedal/interceptor support.
"""
class GasInterceptorCarController:
def __init__(self, CP, CP_SP):
# No-op initializer; kept for interface compatibility
self.frame = 0
self.CP = CP
self.CP_SP = CP_SP
def extend_with_interceptor(self, CC, CS, actuators, can_sends):
# Stubbed out for branches without pedal/interceptor support
return
opendbc_repo/opendbc/sunnypilot/car/gm/icbm.py
-81
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@@ -1,81 +0,0 @@
"""
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
This file is part of sunnypilot and is licensed under the MIT License.
See the LICENSE.md file in the root directory for more details.
"""
from opendbc.car import DT_CTRL, structs
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.can_definitions import CanData
from opendbc.car.gm import gmcan
from opendbc.car.gm.values import CanBus, CruiseButtons
from opendbc.sunnypilot.car.intelligent_cruise_button_management_interface_base import IntelligentCruiseButtonManagementInterfaceBase
from opendbc.sunnypilot.car.gm.values_ext import GMFlagsSP
SendButtonState = structs.IntelligentCruiseButtonManagement.SendButtonState
BUTTONS = {
SendButtonState.increase: CruiseButtons.RES_ACCEL,
SendButtonState.decrease: CruiseButtons.DECEL_SET,
}
# Match the aggressive cadence used by the legacy GM cruise spam tune
BUTTON_SPAM_INTERVAL = 0.2
class IntelligentCruiseButtonManagementInterface(IntelligentCruiseButtonManagementInterfaceBase):
def __init__(self, CP, CP_SP):
super().__init__(CP, CP_SP)
def _next_button_counter(self, CS) -> int:
# Predict the next rolling counter slot used by ASCMSteeringButton
return (CS.buttons_counter + 1) % 4
def _compute_redneck_button(self, CC, CS) -> CruiseButtons | None:
accel = CC.actuators.accel
v_ego = CS.out.vEgo
# TODO: detect metric clusters; default to MPH like the original tune
ms_to_speed = CV.MS_TO_MPH
speed_set = int(round(CS.out.cruiseState.speed * ms_to_speed))
desired_set = int(round((v_ego * 1.01 + 3 * accel) * ms_to_speed))
if self.CP.minEnableSpeed - (desired_set / ms_to_speed) > 3.25:
return CruiseButtons.CANCEL
if desired_set < speed_set and speed_set > self.CP.minEnableSpeed * ms_to_speed + 1:
return CruiseButtons.DECEL_SET
if desired_set > speed_set:
return CruiseButtons.RES_ACCEL
return None
def update(self, CC, CC_SP, CS, packer, frame, last_button_frame) -> list[CanData]:
can_sends: list[CanData] = []
self.CC_SP = CC_SP
self.ICBM = CC_SP.intelligentCruiseButtonManagement
self.frame = frame
self.last_button_frame = last_button_frame
if self.CP_SP.flags & GMFlagsSP.NON_ACC:
redneck_button = self._compute_redneck_button(CC, CS)
if redneck_button:
interval = 1.0 if abs(CC.actuators.accel) <= 0.15 else 0.2
if (self.frame - self.last_button_frame) * DT_CTRL > interval:
idx = self._next_button_counter(CS)
can_sends.append(gmcan.create_buttons(packer, CanBus.POWERTRAIN, idx, redneck_button))
self.last_button_frame = self.frame
return can_sends
if self.ICBM.sendButton != SendButtonState.none:
send_button = BUTTONS[self.ICBM.sendButton]
if (self.frame - self.last_button_frame) * DT_CTRL > BUTTON_SPAM_INTERVAL:
idx = self._next_button_counter(CS)
can_sends.append(gmcan.create_buttons(packer, CanBus.POWERTRAIN, idx, send_button))
self.last_button_frame = self.frame
return can_sends