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Revert "deprecate carState.brake" for Honda Gas Interceptor (#1860)

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* Return Honda exception removed in commaai#37857

Added handling for brakePressed state with conditions for Honda models.

* Add CAR back to imports

* match

---------

Co-authored-by: Jason Wen <haibin.wen3@gmail.com>
This commit is contained in:
MVL
2026-06-08 23:20:51 -04:00
committed by GitHub
parent 066ba92e77
commit bc27262a92
1 changed files with 14 additions and 3 deletions
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selfdrive/car/tests/test_models.py
+14 -3
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@@ -13,7 +13,7 @@ from opendbc.car import DT_CTRL, gen_empty_fingerprint, structs
from opendbc.car.can_definitions import CanData
from opendbc.car.car_helpers import FRAME_FINGERPRINT, interfaces
from opendbc.car.fingerprints import MIGRATION
from opendbc.car.honda.values import HondaFlags
from opendbc.car.honda.values import CAR as HONDA, HondaFlags
from opendbc.car.structs import car
from opendbc.car.tests.routes import non_tested_cars, routes, CarTestRoute
from opendbc.car.values import Platform, PLATFORMS
@@ -358,7 +358,13 @@ class TestCarModelBase(unittest.TestCase):
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
self.assertEqual(CS.brakePressed, self.safety.get_brake_pressed_prev())
# TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brake > 0.05:
brake_pressed = False
self.assertEqual(brake_pressed, self.safety.get_brake_pressed_prev())
if self.safety.get_regen_braking_prev() != prev_panda_regen_braking:
self.assertEqual(CS.regenBraking, self.safety.get_regen_braking_prev())
@@ -442,7 +448,12 @@ class TestCarModelBase(unittest.TestCase):
checks['steeringAngleDeg'] += (angle_can > (self.safety.get_angle_meas_max() + 1) or
angle_can < (self.safety.get_angle_meas_min() - 1))
checks['brakePressed'] += CS.brakePressed != self.safety.get_brake_pressed_prev()
# TODO: remove this exception once this mismatch is resolved
brake_pressed = CS.brakePressed
if CS.brakePressed and not self.safety.get_brake_pressed_prev():
if self.CP.carFingerprint in (HONDA.HONDA_PILOT, HONDA.HONDA_RIDGELINE) and CS.brakeDEPRECATED > 0.05:
brake_pressed = False
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
checks['steeringDisengage'] += CS.steeringDisengage != self.safety.get_steering_disengage_prev()