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Refactor CarSpecificEvents Class extracting BRAND_EXTRA_GEARS (#36805)

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* Brand Extra Gears Dict added. Gear data removed from CarSpecificEvents Update method, data now held in global variable.

* Added elif for Ford and Nissan events creation. BRAND_EXTRA_GEARS now extracted from CarSpecificEvents

* Amended Chrysler and Toyota create_common_events calls.

* format

* can do this!

* consis

* whoops

* type

---------

Co-authored-by: RJ <ryan@DESKTOP-4S0L5O5.localdomain>
Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
rj-lynch
2025-12-11 00:35:35 +00:00
committed by GitHub
parent 53b7adedc2
commit ff5b75d164
1 changed files with 22 additions and 18 deletions
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selfdrive/car/car_specific.py
+22 -18
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@@ -26,6 +26,18 @@ class MockCarState:
return CS
BRAND_EXTRA_GEARS = {
'ford': [GearShifter.low, GearShifter.manumatic],
'nissan': [GearShifter.brake],
'chrysler': [GearShifter.low],
'honda': [GearShifter.sport],
'toyota': [GearShifter.sport],
'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
'hyundai': [GearShifter.sport, GearShifter.manumatic]
}
class CarSpecificEvents:
def __init__(self, CP: structs.CarParams):
self.CP = CP
@@ -36,17 +48,13 @@ class CarSpecificEvents:
self.silent_steer_warning = True
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
if self.CP.brand in ('body', 'mock'):
events = Events()
elif self.CP.brand == 'ford':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low, GearShifter.manumatic])
elif self.CP.brand == 'nissan':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
elif self.CP.brand == 'chrysler':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
@@ -57,7 +65,7 @@ class CarSpecificEvents:
events.add(EventName.belowSteerSpeed)
elif self.CP.brand == 'honda':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport], pcm_enable=False)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -79,7 +87,7 @@ class CarSpecificEvents:
elif self.CP.brand == 'toyota':
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport])
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
if self.CP.openpilotLongitudinalControl:
if CS.cruiseState.standstill and not CS.brakePressed:
@@ -94,9 +102,7 @@ class CarSpecificEvents:
events.add(EventName.manualRestart)
elif self.CP.brand == 'gm':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
GearShifter.eco, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
@@ -107,8 +113,7 @@ class CarSpecificEvents:
events.add(EventName.resumeRequired)
elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=self.CP.pcmCruise)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
if self.CP.openpilotLongitudinalControl:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
@@ -121,15 +126,14 @@ class CarSpecificEvents:
# events.add(EventName.steerTimeLimit)
elif self.CP.brand == 'hyundai':
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
else:
events = self.create_common_events(CS, CS_prev)
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
return events
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
allow_button_cancel=True):
events = Events()