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Remove Cadillac CT6 port (#1359)

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* remove CT6 port

* dont need this route

* extra char

* fix carcontroller params
old-commit-hash: e22482eb31f0dd7851fec6ecf448cf99a14b7f5c
This commit is contained in:
Adeeb
2020-04-13 15:53:24 -07:00
committed by GitHub
parent 9c9b8b2aa8
commit 7f2008aa0b
6 changed files with 94 additions and 232 deletions
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selfdrive/car/gm/interface.py
+19 -34
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@@ -3,7 +3,7 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
SUPERCRUISE_CARS, AccState, FINGERPRINTS
AccState, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@@ -29,9 +29,7 @@ class CarInterface(CarInterfaceBase):
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or \
has_relay or \
candidate == CAR.CADILLAC_CT6
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
ret.openpilotLongitudinalControl = ret.enableCamera
tire_stiffness_factor = 0.444 # not optimized yet
@@ -93,16 +91,6 @@ class CarInterface(CarInterfaceBase):
ret.steerRatioRear = 0.
ret.centerToFront = ret.wheelbase * 0.49
elif candidate == CAR.CADILLAC_CT6:
# engage speed is decided by pcm
ret.minEnableSpeed = -1.
ret.mass = 4016. * CV.LB_TO_KG + STD_CARGO_KG
ret.safetyModel = car.CarParams.SafetyModel.cadillac
ret.wheelbase = 3.11
ret.steerRatio = 14.6 # it's 16.3 without rear active steering
ret.steerRatioRear = 0. # TODO: there is RAS on this car!
ret.centerToFront = ret.wheelbase * 0.465
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
@@ -159,28 +147,25 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS
events = self.create_common_events(ret, pcm_enable=supercruise)
events = self.create_common_events(ret, pcm_enable=False)
if not supercruise:
# TODO: why is this only not supercruise? ignore supercruise?
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
if self.CS.park_brake:
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.cruiseState.standstill:
events.append(create_event('resumeRequired', [ET.WARNING]))
if self.CS.pcm_acc_status == AccState.FAULTED:
events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events