mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-06-08 12:34:59 +08:00
Code Issues Packages Projects Releases Wiki Activity

deprecate carState.brake (#37857)

Browse Source 
* remove CarState.brake refs

Intending to deprecate this field since it's set incorrectly by
most car implementations, and (essentially) unused in openpilot.
Everything should be using CarState.brakePressed.
See https://github.com/commaai/opendbc/pull/3338.

* fix test_models.py
This commit is contained in:
John Belmonte
2026-05-30 14:51:59 -07:00
committed by GitHub
parent 9f3448f662
commit 5063c2055f
2 changed files with 4 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
selfdrive/car/car_specific.py
View File

@@ -73,7 +73,7 @@ class CarSpecificEvents:
elif self.CP.brand == 'gm':
# 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
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brakePressed and
self.CP.networkLocation == NetworkLocation.fwdCamera):
events.add(EventName.belowEngageSpeed)
if CS.cruiseState.standstill:

17
selfdrive/car/tests/test_models.py
View File

@@ -12,7 +12,7 @@ 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 CAR as HONDA, HondaFlags
from opendbc.car.honda.values import 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
@@ -342,13 +342,7 @@ class TestCarModelBase(unittest.TestCase):
self.assertEqual(CS.gasPressed, self.safety.get_gas_pressed_prev())
if self.safety.get_brake_pressed_prev() != prev_panda_brake:
# 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())
self.assertEqual(CS.brakePressed, 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())
@@ -424,12 +418,7 @@ class TestCarModelBase(unittest.TestCase):
checks['vEgoRaw'] += (v_ego_raw > (self.safety.get_vehicle_speed_max() + 1e-3) or
v_ego_raw < (self.safety.get_vehicle_speed_min() - 1e-3))
# 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
checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
checks['brakePressed'] += CS.brakePressed != 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()