carControl: add long and lat active fields (#23859)

* proof of concept

* actuators packet describes which actuators are active

* bump cereal

* fixes

* not needed for this PR

* Do Toyota

* add back controlsState.active

* bump cereal

* rest of cars

* in actuators

* add active back

* which

* use controlsState.active for now

* will make an issue

* Update selfdrive/controls/controlsd.py

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

* move local lat_active checks into CC.latActive

* remove redundant checks

* move comment

move comment

* fix joystick mode

* get enabled from carcontrol

* do standstill check in controlsd

* make sure we consider the gas press case for GM

* use CC.actuators

* fix

* capitalization

* Bump cereal

Bump cereal

* make intermediate actuators

* similar convention to before

* clean that up

* update refs

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>

Author: sshane

cereal

@@ -66,7 +66,7 @@ def update(self, c, can_strings):
   def apply(self, c):
 
     ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
-                               c.hudControl.visualAlert, c.cruiseControl.cancel)
+                         c.hudControl.visualAlert, c.cruiseControl.cancel)
 
     self.frame += 1
     return ret

selfdrive/car/ford/interface.py

@@ -27,8 +27,7 @@ def __init__(self, dbc_name, CP, VM):
     self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
-  def update(self, c, enabled, CS, frame, actuators,
-             hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
+  def update(self, c, CS, frame, actuators, hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
 
@@ -41,7 +40,7 @@ def update(self, c, enabled, CS, frame, actuators,
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (frame % P.STEER_STEP) == 0:
-      lkas_enabled = c.active and not (CS.out.steerFaultTemporary or CS.out.steerFaultPermanent) and CS.out.vEgo > P.MIN_STEER_SPEED
+      lkas_enabled = c.latActive and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
@@ -58,7 +57,7 @@ def update(self, c, enabled, CS, frame, actuators,
 
     # Gas/regen and brakes - all at 25Hz
     if (frame % 4) == 0:
-      if not c.active:
+      if not c.longActive:
         # Stock ECU sends max regen when not enabled.
         self.apply_gas = P.MAX_ACC_REGEN
         self.apply_brake = 0
@@ -68,15 +67,15 @@ def update(self, c, enabled, CS, frame, actuators,
 
       idx = (frame // 4) % 4
 
-      at_full_stop = enabled and CS.out.standstill
-      near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
+      at_full_stop = c.longActive and CS.out.standstill
+      near_stop = c.longActive and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
       can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, enabled, at_full_stop))
+      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, c.longActive, at_full_stop))
 
     # Send dashboard UI commands (ACC status), 25hz
     if (frame % 4) == 0:
       send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
+      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, c.longActive, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
 
     # Radar needs to know current speed and yaw rate (50hz),
     # and that ADAS is alive (10hz)

selfdrive/car/gm/carcontroller.py

@@ -222,12 +222,7 @@ def apply(self, c):
     if hud_v_cruise > 70:
       hud_v_cruise = 0
 
-    # For Openpilot, "enabled" includes pre-enable.
-    # In GM, PCM faults out if ACC command overlaps user gas.
-    enabled = c.enabled and not self.CS.out.gasPressed
-
-    ret = self.CC.update(c, enabled, self.CS, self.frame,
-                         c.actuators,
+    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
                          hud_v_cruise, hud_control.lanesVisible,
                          hud_control.leadVisible, hud_control.visualAlert)
 

selfdrive/car/gm/interface.py

@@ -112,12 +112,12 @@ def __init__(self, dbc_name, CP, VM):
 
     self.params = CarControllerParams(CP)
 
-  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
+  def update(self, c, CS, frame, actuators, pcm_cancel_cmd,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
 
-    if active:
+    if c.longActive:
       accel = actuators.accel
       gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
     else:
@@ -136,7 +136,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
     else:
       hud_lanes = 0
 
-    if enabled:
+    if c.enabled:
       if hud_show_car:
         hud_car = 2
       else:
@@ -152,8 +152,6 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
     # steer torque is converted back to CAN reference (positive when steering right)
     apply_steer = int(interp(-actuators.steer * P.STEER_MAX, P.STEER_LOOKUP_BP, P.STEER_LOOKUP_V))
 
-    lkas_active = active
-
     # Send CAN commands.
     can_sends = []
 
@@ -165,7 +163,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
     # Send steering command.
     idx = frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
-      lkas_active, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
+      c.latActive, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
 
     stopping = actuators.longControlState == LongCtrlState.stopping
 
@@ -217,7 +215,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
         if CS.CP.carFingerprint in HONDA_BOSCH:
           self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
           self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
-          can_sends.extend(hondacan.create_acc_commands(self.packer, enabled, active, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
+          can_sends.extend(hondacan.create_acc_commands(self.packer, c.enabled, c.longActive, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
@@ -236,7 +234,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
             # This prevents unexpected pedal range rescaling
             # Sending non-zero gas when OP is not enabled will cause the PCM not to respond to throttle as expected
             # when you do enable.
-            if active:
+            if c.longActive:
               self.gas = clip(gas_mult * (gas - brake + wind_brake*3/4), 0., 1.)
             else:
               self.gas = 0.0

selfdrive/car/honda/carcontroller.py

@@ -427,11 +427,9 @@ def apply(self, c):
     else:
       hud_v_cruise = 255
 
-    ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
-                         c.actuators,
-                         c.cruiseControl.cancel,
-                         hud_v_cruise,
-                         hud_control.lanesVisible,
+    ret = self.CC.update(c, self.CS, self.frame,
+                         c.actuators, c.cruiseControl.cancel,
+                         hud_v_cruise, hud_control.lanesVisible,
                          hud_show_car=hud_control.leadVisible,
                          hud_alert=hud_control.visualAlert)
 

selfdrive/car/honda/interface.py

@@ -46,23 +46,20 @@ def __init__(self, dbc_name, CP, VM):
     self.last_resume_frame = 0
     self.accel = 0
 
-  def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
+  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
     new_steer = int(round(actuators.steer * self.p.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
-    # disable when temp fault is active, or below LKA minimum speed
-    lkas_active = c.active and not CS.out.steerFaultTemporary and CS.out.vEgo >= CS.CP.minSteerSpeed
-
-    if not lkas_active:
+    if not c.latActive:
       apply_steer = 0
 
     self.apply_steer_last = apply_steer
 
     sys_warning, sys_state, left_lane_warning, right_lane_warning = \
-      process_hud_alert(enabled, self.car_fingerprint, visual_alert,
+      process_hud_alert(c.enabled, self.car_fingerprint, visual_alert,
                         left_lane, right_lane, left_lane_depart, right_lane_depart)
 
     can_sends = []
@@ -72,8 +69,8 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
       if (frame % 100) == 0:
         can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
 
-    can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
-                                   CS.lkas11, sys_warning, sys_state, enabled,
+    can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, c.latActive,
+                                   CS.lkas11, sys_warning, sys_state, c.enabled,
                                    left_lane, right_lane,
                                    left_lane_warning, right_lane_warning))
 
@@ -89,7 +86,7 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
 
     if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
       lead_visible = False
-      accel = actuators.accel if c.active else 0
+      accel = actuators.accel if c.longActive else 0
 
       jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
 
@@ -100,15 +97,15 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
 
       stopping = (actuators.longControlState == LongCtrlState.stopping)
       set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
-      can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
+      can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
       self.accel = accel
 
     # 20 Hz LFA MFA message
     if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
                                                    CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
                                                    CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                                                    CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
-      can_sends.append(create_lfahda_mfc(self.packer, enabled))
+      can_sends.append(create_lfahda_mfc(self.packer, c.enabled))
 
     # 5 Hz ACC options
     if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:

selfdrive/car/hyundai/carcontroller.py

@@ -352,8 +352,8 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert, hud_control.setSpeed, hud_control.leftLaneVisible,
-                         hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
+    ret = self.CC.update(c, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, hud_control.visualAlert,
+                         hud_control.setSpeed, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1
     return ret

selfdrive/car/hyundai/interface.py

@@ -19,7 +19,7 @@ def update(self, c, CS, frame):
     apply_steer = 0
     self.steer_rate_limited = False
 
-    if c.active:
+    if c.latActive:
       # calculate steer and also set limits due to driver torque
       new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,

selfdrive/car/mazda/carcontroller.py

@@ -18,7 +18,7 @@ def __init__(self, dbc_name, CP, VM):
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, c, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
+  def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert,
              left_line, right_line, left_lane_depart, right_lane_depart):
 
     can_sends = []
@@ -30,7 +30,7 @@ def update(self, c, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
 
     steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if c.active:
+    if c.latActive:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
@@ -68,12 +68,12 @@ def update(self, c, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
         can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, apply_angle, frame, enabled, self.lkas_max_torque))
+        self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque))
 
     if lkas_hud_msg and lkas_hud_info_msg:
       if frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+          self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart))
 
       if frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(

selfdrive/car/nissan/carcontroller.py

@@ -79,7 +79,7 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
                          c.cruiseControl.cancel, hud_control.visualAlert,
                          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                          hud_control.leftLaneDepart, hud_control.rightLaneDepart)

selfdrive/car/nissan/interface.py

@@ -15,7 +15,7 @@ def __init__(self, dbc_name, CP, VM):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
     can_sends = []
 
@@ -30,7 +30,7 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if not c.active:
+      if not c.latActive:
         apply_steer = 0
 
       if CS.CP.carFingerprint in PREGLOBAL_CARS:
@@ -69,7 +69,7 @@ def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
         self.es_distance_cnt = CS.es_distance_msg["Counter"]
 
       if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
         self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
 
     new_actuators = actuators.copy()

selfdrive/car/subaru/carcontroller.py

@@ -123,7 +123,7 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
                          c.cruiseControl.cancel, hud_control.visualAlert,
                          hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1

selfdrive/car/subaru/interface.py

@@ -12,12 +12,12 @@ def __init__(self, dbc_name, CP, VM):
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, c, enabled, CS, frame, actuators, cruise_cancel):
+  def update(self, c, CS, frame, actuators, cruise_cancel):
     can_sends = []
 
     # Temp disable steering on a hands_on_fault, and allow for user override
     hands_on_fault = (CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3)
-    lkas_enabled = c.active and (not hands_on_fault)
+    lkas_enabled = c.latActive and (not hands_on_fault)
 
     if lkas_enabled:
       apply_angle = actuators.steeringAngleDeg

selfdrive/car/tesla/carcontroller.py

@@ -71,6 +71,6 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
-    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
+    ret = self.CC.update(c, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
     self.frame += 1
     return ret

selfdrive/car/tesla/interface.py

@@ -22,11 +22,11 @@ def __init__(self, dbc_name, CP, VM):
     self.gas = 0
     self.accel = 0
 
-  def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
+  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
 
     # gas and brake
-    if CS.CP.enableGasInterceptor and active:
+    if CS.CP.enableGasInterceptor and c.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
       if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -49,15 +49,15 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
     self.steer_rate_limited = new_steer != apply_steer
 
     # Cut steering while we're in a known fault state (2s)
-    if not active or CS.steer_state in (9, 25):
+    if not c.latActive or CS.steer_state in (9, 25):
       apply_steer = 0
       apply_steer_req = 0
     else:
       apply_steer_req = 1
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
-    if not enabled and CS.pcm_acc_status:
+    if not c.enabled and CS.pcm_acc_status:
       pcm_cancel_cmd = 1
 
     # on entering standstill, send standstill request
@@ -122,7 +122,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
       send_ui = True
 
     if (frame % 100 == 0 or send_ui):
-      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, enabled))
+      can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, c.enabled))
 
     if frame % 100 == 0 and CS.CP.enableDsu:
       can_sends.append(create_fcw_command(self.packer, fcw_alert))

selfdrive/car/toyota/carcontroller.py

@@ -273,7 +273,7 @@ def update(self, c, can_strings):
   # to be called @ 100hz
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c.enabled, c.active, self.CS, self.frame,
+    ret = self.CC.update(c, self.CS, self.frame,
                          c.actuators, c.cruiseControl.cancel,
                          hud_control.visualAlert, hud_control.leftLaneVisible,
                          hud_control.rightLaneVisible, hud_control.leadVisible,