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killing car_specific.py, part 3 (#36946)

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* mv that

* lil more

* todo

* cleanup
This commit is contained in:
Adeeb Shihadeh
2025-12-21 15:42:53 -08:00
committed by GitHub
parent e9a37d99c3
commit 8728c7dde3
1 changed files with 12 additions and 22 deletions
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34
selfdrive/car/car_specific.py
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@@ -21,14 +21,12 @@ class CarSpecificEvents:
self.silent_steer_warning = True
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS
if self.CP.brand in ('body', 'mock'):
events = Events()
return Events()
elif self.CP.brand == 'chrysler':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
events = self.create_common_events(CS, CS_prev)
if self.CP.brand == 'chrysler':
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
@@ -38,8 +36,6 @@ class CarSpecificEvents:
events.add(EventName.belowSteerSpeed)
elif self.CP.brand == 'honda':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=False)
if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -60,8 +56,6 @@ class CarSpecificEvents:
elif self.CP.brand == 'toyota':
# TODO: when we check for unexpected disengagement, check gear not S1, S2, S3
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
if self.CP.openpilotLongitudinalControl:
# Only can leave standstill when planner wants to move
if CS.cruiseState.standstill and not CS.brakePressed and CC.cruiseControl.resume:
@@ -76,8 +70,6 @@ class CarSpecificEvents:
events.add(EventName.manualRestart)
elif self.CP.brand == 'gm':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
# Enabling at a standstill with brake is allowed
# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
@@ -87,8 +79,6 @@ class CarSpecificEvents:
events.add(EventName.resumeRequired)
elif self.CP.brand == 'volkswagen':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise)
if self.CP.openpilotLongitudinalControl:
if CS.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
@@ -99,23 +89,23 @@ class CarSpecificEvents:
# if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
# events.add(EventName.steerTimeLimit)
elif self.CP.brand == 'hyundai':
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears, pcm_enable=self.CP.pcmCruise, allow_button_cancel=False)
else:
events = self.create_common_events(CS, CS_prev, extra_gears=extra_gears)
return events
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True,
allow_button_cancel=True):
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState):
events = Events()
CI = interfaces[self.CP.carFingerprint]
# TODO: cleanup the honda-specific logic
pcm_enable = self.CP.pcmCruise and self.CP.brand != 'honda'
# TODO: on some hyundai cars, the cancel button is also the pause/resume button,
# so only use it for cancel when running openpilot longitudinal
allow_button_cancel = self.CP.brand != 'hyundai'
if CS.doorOpen:
events.add(EventName.doorOpen)
if CS.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears:
if CS.gearShifter != GearShifter.drive and CS.gearShifter not in CI.DRIVABLE_GEARS:
events.add(EventName.wrongGear)
if CS.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)