wip

selfdrive/car/gm/carcontroller.py

@@ -6,7 +6,8 @@ from openpilot.common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command
 from openpilot.selfdrive.car.gm import gmcan
-from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, EV_CAR, SDGM_CAR
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR
+from openpilot.selfdrive.car.interfaces import CarControllerBase
 from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone
 from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
@@ -26,7 +27,7 @@ PITCH_DEADZONE = 0.01  # [radians] 0.01 ≈ 1% grade
 BRAKE_PITCH_FACTOR_BP = [5., 10.]  # [m/s] smoothly revert to planned accel at low speeds
 BRAKE_PITCH_FACTOR_V = [0., 1.]  # [unitless in [0,1]]; don't touch
 
-class CarController:
+class CarController(CarControllerBase):
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.start_time = 0.
@@ -136,7 +137,6 @@ class CarController:
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE))
         else:
-          # Normal operation
           brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V)
           if self.CP.carFingerprint in EV_CAR and frogpilot_variables.use_ev_tables:
             self.params.update_ev_gas_brake_threshold(CS.out.vEgo)
@@ -188,12 +188,12 @@ class CarController:
           # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
           can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, 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))
+                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
           # Send dashboard UI commands (ACC status)
           send_fcw = hud_alert == VisualAlert.fcw
           can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw, CS.display_menu, CS.personality_profile))
+                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw))
       else:
         # to keep accel steady for logs when not sending gas
         accel += self.accel_g