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Revert "Update carcontroller.py"

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This reverts commit 7479aa327b.
This commit is contained in:
firestar5683
2025-12-20 23:56:06 -06:00
parent 7479aa327b
commit fb1639f538
1 changed files with 11 additions and 1 deletions
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opendbc_repo/opendbc/car/gm/carcontroller.py
+11 -1
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@@ -6,6 +6,7 @@ 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.values_ext import GMFlagsSP
from opendbc.sunnypilot.car.gm.icbm import IntelligentCruiseButtonManagementInterface
VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -38,6 +39,7 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
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):
@@ -111,9 +113,14 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
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
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, gas_regen_active, at_full_stop))
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))
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))
@@ -168,5 +175,8 @@ class CarController(CarControllerBase, IntelligentCruiseButtonManagementInterfac
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