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GM: remove redundant CarController class variable #27280

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merged 4 commits into from
Feb 20, 2023
Merged

GM: remove redundant CarController class variable #27280

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1be3f4d
clean up
sshane Feb 10, 2023
bc1df7f
fix check
sshane Feb 10, 2023
eef1c28
Merge remote-tracking branch 'upstream/master' into gm-cleanup-cc
sshane Feb 20, 2023
956dc94
only set ts_nanos on update
sshane Feb 20, 2023
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9 changes: 3 additions & 6 deletions selfdrive/car/gm/carcontroller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,6 @@ def __init__(self, dbc_name, CP, VM):
self.cancel_counter = 0

self.lka_steering_cmd_counter = 0
self.sent_lka_steering_cmd = False
self.lka_icon_status_last = (False, False)

self.params = CarControllerParams(self.CP)
Expand Down Expand Up @@ -59,19 +58,17 @@ def update(self, CC, CS, now_nanos):
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
if not self.sent_lka_steering_cmd or out_of_sync:
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
steer_step = self.params.STEER_STEP

if CS.loopback_lka_steering_cmd_updated:
self.lka_steering_cmd_counter += 1
self.sent_lka_steering_cmd = True
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0

# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
# received the ASCMLKASteeringCmd loopback confirmation too recently
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
if not self.sent_lka_steering_cmd:
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1

if CC.latActive:
Expand Down
3 changes: 2 additions & 1 deletion selfdrive/car/gm/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,8 @@ def update(self, pt_cp, cam_cp, loopback_cp):

# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
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:
self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
Expand Down