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Skip harness relay check if camera is missing

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Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent ed5ecc7a42
commit 80682a206c
6 changed files with 23 additions and 6 deletions
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14
selfdrive/car/gm/carstate.py
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@@ -49,7 +49,7 @@ class CarState(CarStateBase):
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
if self.loopback_lka_steering_cmd_updated:
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
@@ -69,7 +69,10 @@ class CarState(CarStateBase):
else:
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(pt_cp.vl["ECMPRDNL2"]["PRNDL2"], None))
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
ret.brake = pt_cp.vl["EBCMBrakePedalPosition"]["BrakePedalPosition"] / 0xd0
else:
ret.brake = pt_cp.vl["ECMAcceleratorPos"]["BrakePedalPos"]
if self.CP.networkLocation == NetworkLocation.fwdCamera:
ret.brakePressed = pt_cp.vl["ECMEngineStatus"]["BrakePressed"] != 0
else:
@@ -136,7 +139,7 @@ class CarState(CarStateBase):
ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
if self.CP.networkLocation == NetworkLocation.fwdCamera:
if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
if self.CP.carFingerprint not in CC_ONLY_CAR:
ret.cruiseState.speed = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCSpeedSetpoint"] * CV.KPH_TO_MS
if self.CP.carFingerprint not in SDGM_CAR:
@@ -178,7 +181,7 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
messages = []
if CP.networkLocation == NetworkLocation.fwdCamera:
if CP.networkLocation == NetworkLocation.fwdCamera and not CP.flags & GMFlags.NO_CAMERA.value:
messages += [
("ASCMLKASteeringCmd", 10),
]
@@ -238,6 +241,9 @@ class CarState(CarStateBase):
messages += [
("ASCMLKASteeringCmd", 0),
]
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
messages.remove(("ECMAcceleratorPos", 80))
messages.append(("EBCMBrakePedalPosition", 100))
if CP.transmissionType == TransmissionType.direct:
messages += [