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Deprecate carState.gas (#2558)

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* Deprecate carState.gas

* lil more
This commit is contained in:
Adeeb Shihadeh
2025-07-25 12:15:49 -07:00
committed by GitHub
parent 698ca0ad71
commit a2067d048f
13 changed files with 17 additions and 38 deletions
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3
opendbc/car/car.capnp
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@@ -174,8 +174,6 @@ struct CarState {
standstill @18 :Bool;
wheelSpeeds @2 :WheelSpeeds;
# gas pedal, 0.0-1.0
gas @3 :Float32; # this is user pedal only
gasPressed @4 :Bool; # this is user pedal only
# brake pedal, 0.0-1.0
@@ -287,6 +285,7 @@ struct CarState {
# deprecated
errorsDEPRECATED @0 :List(OnroadEventDEPRECATED.EventName);
gasDEPRECATED @3 :Float32; # this is user pedal only
brakeLightsDEPRECATED @19 :Bool;
steeringRateLimitedDEPRECATED @29 :Bool;
canMonoTimesDEPRECATED @12: List(UInt64);

3
opendbc/car/chrysler/carstate.py
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@@ -45,8 +45,7 @@ class CarState(CarStateBase):
ret.brakePressed = cp.vl["ESP_1"]['Brake_Pedal_State'] == 1 # Physical brake pedal switch
# gas pedal
ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
ret.gasPressed = ret.gas > 1e-5
ret.gasPressed = cp.vl["ECM_5"]["Accelerator_Position"] > 1e-5
# car speed
if self.CP.carFingerprint in RAM_CARS:

3
opendbc/car/ford/carstate.py
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@@ -37,8 +37,7 @@ class CarState(CarStateBase):
ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
# gas pedal
ret.gas = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100.
ret.gasPressed = ret.gas > 1e-6
ret.gasPressed = cp.vl["EngVehicleSpThrottle"]["ApedPos_Pc_ActlArb"] / 100. > 1e-6
# brake pedal
ret.brake = cp.vl["BrakeSnData_4"]["BrkTot_Tq_Actl"] / 32756. # torque in Nm

3
opendbc/car/gm/carstate.py
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@@ -96,8 +96,7 @@ class CarState(CarStateBase):
if self.CP.transmissionType == TransmissionType.direct:
ret.regenBraking = pt_cp.vl["EBCMRegenPaddle"]["RegenPaddle"] != 0
ret.gas = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254.
ret.gasPressed = ret.gas > 1e-5
ret.gasPressed = pt_cp.vl["AcceleratorPedal2"]["AcceleratorPedal2"] / 254. > 1e-5
ret.steeringAngleDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelAngle"]
ret.steeringRateDeg = pt_cp.vl["PSCMSteeringAngle"]["SteeringWheelRate"]

3
opendbc/car/honda/carstate.py
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@@ -129,8 +129,7 @@ class CarState(CarStateBase):
gear_position = self.shifter_values.get(cp.vl[self.gearbox_msg]["GEAR_SHIFTER"], None)
ret.gearShifter = self.parse_gear_shifter(gear_position)
ret.gas = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 1e-5
ret.gasPressed = cp.vl["POWERTRAIN_DATA"]["PEDAL_GAS"] > 1e-5
ret.steeringTorque = cp.vl["STEER_STATUS"]["STEER_TORQUE_SENSOR"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD.get(self.CP.carFingerprint, 1200)

12
opendbc/car/hyundai/carstate.py
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@@ -141,14 +141,12 @@ class CarState(CarStateBase):
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
if self.CP.flags & HyundaiFlags.FCEV:
ret.gas = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254.
ret.gasPressed = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] > 0
elif self.CP.flags & HyundaiFlags.HYBRID:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
ret.gasPressed = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] > 0
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
ret.gasPressed = ret.gas > 0
ret.gasPressed = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] > 0
else:
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
@@ -216,9 +214,7 @@ class CarState(CarStateBase):
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023.
ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
ret.gasPressed = ret.gas > 1e-5
ret.gasPressed = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] > 1e-5
else:
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])

3
opendbc/car/mazda/carstate.py
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@@ -65,8 +65,7 @@ class CarState(CarStateBase):
cp.vl["DOORS"]["BL"], cp.vl["DOORS"]["BR"]])
# TODO: this should be from 0 - 1.
ret.gas = cp.vl["ENGINE_DATA"]["PEDAL_GAS"]
ret.gasPressed = ret.gas > 0
ret.gasPressed = cp.vl["ENGINE_DATA"]["PEDAL_GAS"] > 0
# Either due to low speed or hands off
lkas_blocked = cp.vl["STEER_RATE"]["LKAS_BLOCK"] == 1

6
opendbc/car/nissan/carstate.py
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@@ -35,11 +35,9 @@ class CarState(CarStateBase):
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
ret.gasPressed = bool(cp.vl["GAS_PEDAL"]["GAS_PEDAL"] > 3)
elif self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC):
ret.gas = cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"]
ret.gasPressed = bool(ret.gas > 3)
ret.gasPressed = bool(cp.vl["CRUISE_THROTTLE"]["GAS_PEDAL"] > 3)
if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA):
ret.brakePressed = bool(cp.vl["DOORS_LIGHTS"]["USER_BRAKE_PRESSED"])

4
opendbc/car/rivian/carstate.py
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@@ -31,9 +31,7 @@ class CarState(CarStateBase):
ret.vEgoCluster = cp_adas.vl["Cluster"]["Cluster_VehicleSpeed"] * conversion
# Gas pedal
pedal_status = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"]
ret.gas = pedal_status / 100.0
ret.gasPressed = pedal_status > 0
ret.gasPressed = cp.vl["VDM_PropStatus"]["VDM_AcceleratorPedalPosition"] > 0
# Brake pedal
ret.brake = cp.vl["ESPiB3"]["ESPiB3_pMC1"] / 250.0 # pressure in Bar

4
opendbc/car/subaru/carstate.py
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@@ -22,9 +22,7 @@ class CarState(CarStateBase):
ret = structs.CarState()
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
ret.gas = throttle_msg["Throttle_Pedal"] / 255.
ret.gasPressed = ret.gas > 1e-5
ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
if self.CP.flags & SubaruFlags.PREGLOBAL:
ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 0
else:

4
opendbc/car/tesla/carstate.py
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@@ -40,9 +40,7 @@ class CarState(CarStateBase):
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
# Gas pedal
pedal_status = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"]
ret.gas = pedal_status / 100.0
ret.gasPressed = pedal_status > 0
ret.gasPressed = cp_party.vl["DI_systemStatus"]["DI_accelPedalPos"] > 0
# Brake pedal
ret.brake = 0

1
opendbc/car/toyota/carstate.py
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@@ -71,7 +71,6 @@ class CarState(CarStateBase):
if self.CP.flags & ToyotaFlags.SECOC.value:
self.secoc_synchronization = copy.copy(cp.vl["SECOC_SYNCHRONIZATION"])
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"]
ret.gasPressed = cp.vl["GAS_PEDAL"]["GAS_PEDAL_USER"] > 0
can_gear = int(cp.vl["GEAR_PACKET_HYBRID"]["GEAR"])
else:

6
opendbc/car/volkswagen/carstate.py
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@@ -78,7 +78,6 @@ class CarState(CarStateBase):
ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA
drive_mode = True
ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
@@ -121,7 +120,7 @@ class CarState(CarStateBase):
ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
ret.gasPressed = ret.gas > 0
ret.gasPressed = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] > 0
ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
@@ -160,8 +159,7 @@ class CarState(CarStateBase):
ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
# Update gas, brakes, and gearshift.
ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
ret.gasPressed = ret.gas > 0
ret.gasPressed = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] > 0
ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])