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[GM] Show FCW from OP on dashboard UI / LED (#1596)

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old-commit-hash: 9256530a1d41a4ad65616815f8e9ab047c63f61e
This commit is contained in:
Kishan Karunaratne
2020-05-30 10:17:04 -07:00
committed by GitHub
parent b72fcb69e2
commit 433cd9843a
2 changed files with 15 additions and 3 deletions
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selfdrive/car/gm/carcontroller.py
+12 -1
View File
@@ -60,6 +60,7 @@ class CarController():
self.apply_steer_last = 0
self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False
self.fcw_frames = 0
self.params = CarControllerParams()
@@ -74,6 +75,10 @@ class CarController():
# Send CAN commands.
can_sends = []
# FCW: trigger FCWAlert for 100 frames (4 seconds)
if hud_alert == VisualAlert.fcw:
self.fcw_frames = 100
### STEER ###
if (frame % P.STEER_STEP) == 0:
@@ -122,7 +127,13 @@ class CarController():
# Send dashboard UI commands (ACC status), 25hz
if (frame % 4) == 0:
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car))
# Send FCW if applicable
send_fcw = 0
if self.fcw_frames > 0:
send_fcw = 0x3
self.fcw_frames -= 1
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
# Radar needs to know current speed and yaw rate (50hz),
# and that ADAS is alive (10hz)
selfdrive/car/gm/gmcan.py
+3 -2
View File
@@ -60,7 +60,7 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_f
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight):
def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lead_car_in_sight, fcw):
# Not a bit shift, dash can round up based on low 4 bits.
target_speed = int(target_speed_kph * 16) & 0xfff
@@ -71,7 +71,8 @@ def create_acc_dashboard_command(packer, bus, acc_engaged, target_speed_kph, lea
"ACCGapLevel" : 3 * acc_engaged, # 3 "far", 0 "inactive"
"ACCCmdActive" : acc_engaged,
"ACCAlwaysOne2" : 1,
"ACCLeadCar" : lead_car_in_sight
"ACCLeadCar" : lead_car_in_sight,
"FCWAlert": fcw
}
return packer.make_can_msg("ASCMActiveCruiseControlStatus", bus, values)