From 193ed0fba14c567c02f827ad99c68d94cec58677 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 18:40:48 +0200
Subject: [PATCH 01/21] jamezz-comma devel-pro

---
 selfdrive/car/gm/carcontroller.py | 22 ++++++++++++++++++----
 1 file changed, 18 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index be0ca64ccb1996..aad3d219dc012f 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -24,9 +24,12 @@ def __init__(self, car_fingerprint):
     self.STEER_DRIVER_ALLOWANCE = 50   # allowed driver torque before start limiting
     self.STEER_DRIVER_MULTIPLIER = 4   # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 100     # from dbc
-    self.NEAR_STOP_BRAKE_PHASE = 0.5 # m/s, more aggressive braking near full stop
+    self.NEAR_STOP_BRAKE_PHASE = 1.5 # m/s, more aggressive braking near full stop
 
-    self.ADAS_KEEPALIVE_STEP = 10
+    # Takes case of "Service Adaptive Cruise" and "Service Front Camera"
+    # dashboard messages.
+    self.ADAS_KEEPALIVE_STEP = 100
+    self.CAMERA_KEEPALIVE_STEP = 100
     # pedal lookups, only for Volt
     MAX_GAS = 3072              # Only a safety limit
     ZERO_GAS = 2048
@@ -59,12 +62,11 @@ def __init__(self, canbus, car_fingerprint, allow_controls):
     self.pedal_steady = 0.
     self.start_time = sec_since_boot()
     self.chime = 0
-    self.lkas_active = False
-    self.inhibit_steer_for = 0
     self.steer_idx = 0
     self.apply_steer_last = 0
     self.car_fingerprint = car_fingerprint
     self.allow_controls = allow_controls
+    self.lka_icon_status_last = 0
 
     # Setup detection helper. Routes commands to
     # an appropriate CAN bus number.
@@ -161,6 +163,18 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       # Send ADAS keepalive, 10hz
       if frame % P.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
+        
+    # Show green icon when LKA torque is applied, and
+    # alarming orange icon when approaching torque limit.
+    # If not sent periodically, LKA icon disappears in about 5 seconds.
+    # Conveniently, sending camera message periodically also works as a keepalive.
+    lka_active = CS.lkas_status == 1
+    lka_critical = abs(actuators.steer) > 0.9
+    lka_icon_status = lka_active + (int(lka_critical) << 1)
+    if frame % P.CAMERA_KEEPALIVE_STEP == 0 \
+        or lka_icon_status != self.lka_icon_status_last:
+      can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical))
+      self.lka_icon_status_last = lka_icon_status
 
     # Send chimes
     if self.chime != chime:

From 879b0f04dc1cd8eedcebc185f1c72e9d6a33312f Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 18:41:55 +0200
Subject: [PATCH 02/21] jamezz-comma devel-pro

---
 selfdrive/car/gm/gmcan.py | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 47b0d8b38dfad4..910cb1d95604ce 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -134,6 +134,16 @@ def create_chime_command(bus, chime_type, duration, repeat_cnt):
   dat = [chime_type, duration, repeat_cnt, 0xff, 0]
   return [0x10400060, 0, "".join(map(chr, dat)), bus]
 
+def create_lka_icon_command(bus, active, critical):
+  if active:
+    if critical:
+      dat = "\x40\xc0\x14"
+    else:
+      dat = "\x40\x40\x18"
+  else:
+    dat = "\x00\x00\x00"
+  return [0x104c006c, 0, dat, bus]
+
 # TODO: WIP
 '''
 def create_friction_brake_command_ct6(packer, bus, apply_brake, idx, near_stop, at_full_stop):

From c15bccbe2e2d4268259fedf54d08289b18caed14 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 18:45:18 +0200
Subject: [PATCH 03/21] jamezz-comma devel-pro

---
 selfdrive/car/gm/interface.py | 20 +++++++++++++-------
 1 file changed, 13 insertions(+), 7 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 27d94b885b4af7..a37b51a8cced98 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -52,7 +52,13 @@ def __init__(self, CP, sendcan=None):
 
   @staticmethod
   def compute_gb(accel, speed):
-    return float(accel) / 4.0
+    # Ripped from compute_gb_honda in Honda's interface.py. Works well off shelf but may need more tuning
+    creep_brake = 0.0
+    creep_speed = 2.68
+    creep_brake_value = 0.10
+    if speed < creep_speed:
+      creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
+    return float(accel) / 4.8 - creep_brake
 
   @staticmethod
   def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -76,7 +82,7 @@ def get_params(candidate, fingerprint):
 
     if candidate == CAR.VOLT:
       # supports stop and go, but initial engage must be above 18mph (which include conservatism)
-      ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.minEnableSpeed = 7 * CV.MPH_TO_MS
       # kg of standard extra cargo to count for drive, gas, etc...
       ret.mass = 1607 + std_cargo
       ret.safetyModel = car.CarParams.SafetyModels.gm
@@ -137,15 +143,15 @@ def get_params(candidate, fingerprint):
     ret.longPidDeadzoneBP = [0.]
     ret.longPidDeadzoneV = [0.]
 
-    ret.longitudinalKpBP = [5., 35.]
-    ret.longitudinalKpV = [2.4, 1.5]
-    ret.longitudinalKiBP = [0.]
-    ret.longitudinalKiV = [0.36]
+    ret.longitudinalKpBP = [0., 5., 35.]
+    ret.longitudinalKpV = [1.8, 2.425, 2.2]
+    ret.longitudinalKiBP = [0., 35.]
+    ret.longitudinalKiV = [0.26, 0.36]
 
     ret.steerLimitAlert = True
 
     ret.stoppingControl = True
-    ret.startAccel = 0.8
+    ret.startAccel = 0.5
 
     ret.steerActuatorDelay = 0.1  # Default delay, not measured yet
     ret.steerRateCost = 1.0

From 32e01a652799a3f8ff448f10d2915bef21ef7826 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 18:57:08 +0200
Subject: [PATCH 04/21] Make car specific longitudinalKpV and longitudinalKiV

---
 selfdrive/car/toyota/interface.py | 66 +++++++++++++++++++++++++++----
 1 file changed, 58 insertions(+), 8 deletions(-)

diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index 3e465c649a0e28..a8a2fb0335993d 100755
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -83,6 +83,14 @@ def get_params(candidate, fingerprint):
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
       # TODO: Prius seem to have very laggy actuators. Understand if it is lag or hysteresis
       ret.steerActuatorDelay = 0.25
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [3.6, 2.4, 1.5]
+        ret.longitudinalKiV = [0.54, 0.36]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 2.4, 1.5]
+        ret.longitudinalKiV = [0.54, 0.36]
 
     elif candidate in [CAR.RAV4, CAR.RAV4H]:
       stop_and_go = True if (candidate in CAR.RAV4H) else False
@@ -94,6 +102,15 @@ def get_params(candidate, fingerprint):
       ret.wheelbase = 2.65
       tire_stiffness_factor = 0.5533
       ret.steerKf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
+
     elif candidate == CAR.COROLLA:
       stop_and_go = False
       ret.safetyParam = 100 # see conversion factor for STEER_TORQUE_EPS in dbc file
@@ -103,6 +120,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 2860 * CV.LB_TO_KG + std_cargo  # mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.2], [0.05]]
       ret.steerKf = 0.00003   # full torque for 20 deg at 80mph means 0.00007818594
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
 
     elif candidate == CAR.LEXUS_RXH:
       stop_and_go = True
@@ -113,6 +138,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 4481 * CV.LB_TO_KG + std_cargo  # mean between min and max
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006   # full torque for 10 deg at 80mph means 0.00007818594
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
 
     elif candidate in [CAR.CHR, CAR.CHRH]:
       stop_and_go = True
@@ -123,6 +156,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 3300. * CV.LB_TO_KG + std_cargo
       ret.steerKpV, ret.steerKiV = [[0.723], [0.0428]]
       ret.steerKf = 0.00006
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
 
     elif candidate in [CAR.CAMRY, CAR.CAMRYH]:
       stop_and_go = True
@@ -133,6 +174,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 3400 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid
       ret.steerKpV, ret.steerKiV = [[0.6], [0.1]]
       ret.steerKf = 0.00006
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
 
     elif candidate in [CAR.HIGHLANDER, CAR.HIGHLANDERH]:
       stop_and_go = True
@@ -143,6 +192,14 @@ def get_params(candidate, fingerprint):
       ret.mass = 4607 * CV.LB_TO_KG + std_cargo #mean between normal and hybrid limited
       ret.steerKpV, ret.steerKiV = [[0.6], [0.05]]
       ret.steerKf = 0.00006
+      if ret.enableGasInterceptor:
+        ret.gasMaxV = [0.7]
+        ret.longitudinalKpV = [1.2, 0.8, 0.5]
+        ret.longitudinalKiV = [0.18, 0.12]
+      else:
+        ret.gasMaxV = [0.2]
+        ret.longitudinalKpV = [3.6, 1.1, 1.0]
+        ret.longitudinalKiV = [0.5, 0.24]
 
     ret.steerRateCost = 1.
     ret.centerToFront = ret.wheelbase * 0.44
@@ -203,14 +260,7 @@ def get_params(candidate, fingerprint):
     
     ret.stoppingControl = False
     
-    if ret.enableGasInterceptor:
-      ret.gasMaxV = [0.7]
-      ret.longitudinalKpV = [1.2, 0.8, 0.5]
-      ret.longitudinalKiV = [0.18, 0.12]
-    else:
-      ret.gasMaxV = [0.2]
-      ret.longitudinalKpV = [3.6, 1.1, 1.0]
-      ret.longitudinalKiV = [0.5, 0.24]
+
     return ret
 
   # returns a car.CarState

From 9d75053ec2b50b812f70aa5bede418d5b9045408 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 19:20:51 +0200
Subject: [PATCH 05/21] Update carcontroller.py

---
 selfdrive/car/gm/carcontroller.py | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index aad3d219dc012f..ebe33689c64d1d 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -4,7 +4,7 @@
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
-from selfdrive.car.gm.values import CAR, DBC
+from selfdrive.car.gm.values import CAR, DBC, AccState
 from selfdrive.can.packer import CANPacker
 
 
@@ -30,13 +30,14 @@ def __init__(self, car_fingerprint):
     # dashboard messages.
     self.ADAS_KEEPALIVE_STEP = 100
     self.CAMERA_KEEPALIVE_STEP = 100
+
     # pedal lookups, only for Volt
     MAX_GAS = 3072              # Only a safety limit
-    ZERO_GAS = 2048
+    self.ZERO_GAS = 2048
     MAX_BRAKE = 350             # Should be around 3.5m/s^2, including regen
     self.MAX_ACC_REGEN = 1404  # ACC Regen braking is slightly less powerful than max regen paddle
     self.GAS_LOOKUP_BP = [-0.25, 0., 0.5]
-    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
+    self.GAS_LOOKUP_V = [self.MAX_ACC_REGEN, self.ZERO_GAS, MAX_GAS]
     self.BRAKE_LOOKUP_BP = [-1., -0.25]
     self.BRAKE_LOOKUP_V = [MAX_BRAKE, 0]
 
@@ -85,7 +86,6 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       return
 
     P = self.params
-
     # Send CAN commands.
     can_sends = []
     canbus = self.canbus
@@ -133,12 +133,18 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
       if (frame % 4) == 0:
         idx = (frame / 4) % 4
 
-        at_full_stop = enabled and CS.standstill
-        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE)
+        car_stopping = apply_gas < P.ZERO_GAS
+        standstill = CS.pcm_acc_status == AccState.STANDSTILL
+        at_full_stop = enabled and standstill and car_stopping
+        near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping
         can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop))
 
-        at_full_stop = enabled and CS.standstill
-        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop))
+        # Auto-resume from full stop by resetting ACC control
+        acc_enabled = enabled
+        if standstill and not car_stopping:
+          acc_enabled = False
+
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop))
 
       # Send dashboard UI commands (ACC status), 25hz
       if (frame % 4) == 0:
@@ -160,10 +166,9 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
         can_sends.append(gmcan.create_adas_steering_status(canbus.obstacle, idx))
         can_sends.append(gmcan.create_adas_accelerometer_speed_status(canbus.obstacle, CS.v_ego, idx))
 
-      # Send ADAS keepalive, 10hz
       if frame % P.ADAS_KEEPALIVE_STEP == 0:
         can_sends += gmcan.create_adas_keepalive(canbus.powertrain)
-        
+
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
     # If not sent periodically, LKA icon disappears in about 5 seconds.

From dc43b9cb37ff53a45f747c7898c270603151042b Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 19:21:33 +0200
Subject: [PATCH 06/21] Update gmcan.py

---
 selfdrive/car/gm/gmcan.py | 17 +++++++----------
 1 file changed, 7 insertions(+), 10 deletions(-)

diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 910cb1d95604ce..1aedd7603e49d9 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -59,19 +59,16 @@ def create_gas_regen_command(packer, bus, throttle, idx, acc_engaged, at_full_st
   return packer.make_can_msg("ASCMGasRegenCmd", bus, values)
 
 def create_friction_brake_command(packer, bus, apply_brake, idx, near_stop, at_full_stop):
-
-  if apply_brake == 0:
-    mode = 0x1
-  else:
+  mode = 0x1
+  if apply_brake > 0:
     mode = 0xa
 
-    if at_full_stop:
-      mode = 0xd
-    # TODO: this is to have GM bringing the car to complete stop,
-    # but currently it conflicts with OP controls, so turned off.
-    #elif near_stop:
-    #  mode = 0xb
+  if near_stop:
+    mode = 0xb
 
+  if at_full_stop:
+    mode = 0xd
+    
   brake = (0x1000 - apply_brake) & 0xfff
   checksum = (0x10000 - (mode << 12) - brake - idx) & 0xffff
 

From a2ef537812a838a366729cb505ac23452eb405aa Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 19:22:10 +0200
Subject: [PATCH 07/21] Update interface.py

---
 selfdrive/car/gm/interface.py | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index a37b51a8cced98..9386d40461ed78 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -52,7 +52,7 @@ def __init__(self, CP, sendcan=None):
 
   @staticmethod
   def compute_gb(accel, speed):
-    # Ripped from compute_gb_honda in Honda's interface.py. Works well off shelf but may need more tuning
+  	# Ripped from compute_gb_honda in Honda's interface.py. Works well off shelf but may need more tuning
     creep_brake = 0.0
     creep_speed = 2.68
     creep_brake_value = 0.10
@@ -199,7 +199,7 @@ def update(self, c):
     ret.cruiseState.available = bool(self.CS.main_on)
     cruiseEnabled = self.CS.pcm_acc_status != 0
     ret.cruiseState.enabled = cruiseEnabled
-    ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
+    ret.cruiseState.standstill = False
 
     ret.leftBlinker = self.CS.left_blinker_on
     ret.rightBlinker = self.CS.right_blinker_on
@@ -282,8 +282,6 @@ def update(self, c):
         events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
       if ret.gasPressed:
         events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
-      if ret.cruiseState.standstill:
-        events.append(create_event('resumeRequired', [ET.WARNING]))
 
       # handle button presses
       for b in ret.buttonEvents:

From 4630add3783f9970234b9f6b27798897ea04364e Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 19:22:50 +0200
Subject: [PATCH 08/21] Update values.py

---
 selfdrive/car/gm/values.py | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 8e93b677c8ae66..62529ed6d73578 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -12,6 +12,12 @@ class CruiseButtons:
   MAIN        = 5
   CANCEL      = 6
 
+class AccState:
+  OFF        = 0
+  ACTIVE     = 1
+  FAULTED    = 3
+  STANDSTILL = 4
+
 def is_eps_status_ok(eps_status, car_fingerprint):
   valid_eps_status = []
   if car_fingerprint == CAR.VOLT:
@@ -49,6 +55,7 @@ def parse_gear_shifter(can_gear):
 
 STEER_THRESHOLD = 1.0
 
+
 STOCK_CONTROL_MSGS = {
   CAR.VOLT: [384, 715], # 384 = "ASCMLKASteeringCmd", 715 = "ASCMGasRegenCmd"
   CAR.CADILLAC_CT6: [], # Cadillac does not require ASCMs to be disconnected

From 1ef7bc26012ed7682b8d564b77ff4bc42dc57e20 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 20:35:04 +0200
Subject: [PATCH 09/21] Create .gitignore

---
 selfdrive/car/gm/.gitignore | 2 ++
 1 file changed, 2 insertions(+)
 create mode 100644 selfdrive/car/gm/.gitignore

diff --git a/selfdrive/car/gm/.gitignore b/selfdrive/car/gm/.gitignore
new file mode 100644
index 00000000000000..89fa7bc7daf83e
--- /dev/null
+++ b/selfdrive/car/gm/.gitignore
@@ -0,0 +1,2 @@
+buttons.msg
+buttons.cc.msg

From fc46e263ea91ad515c18aaae605805eeeb64234c Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 20:39:52 +0200
Subject: [PATCH 10/21] Add Buttons

---
 selfdrive/car/gm/carstate.py | 28 ++++++++++++++++++++++++++--
 1 file changed, 26 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 7c0c63f54631ce..5f1b548d895c8e 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -3,6 +3,8 @@
 from common.kalman.simple_kalman import KF1D
 from selfdrive.config import Conversions as CV
 from selfdrive.can.parser import CANParser
+from selfdrive.car.modules.UIBT_module import UIButtons,UIButton
+from selfdrive.car.modules.UIEV_module import UIEvents
 from selfdrive.car.gm.values import DBC, CAR, parse_gear_shifter, \
                                     CruiseButtons, is_eps_status_ok, \
                                     STEER_THRESHOLD
@@ -56,7 +58,19 @@ def __init__(self, CP, canbus):
     self.prev_left_blinker_on = False
     self.right_blinker_on = False
     self.prev_right_blinker_on = False
-
+    
+    #BB UIEvents
+    self.UE = UIEvents(self)
+    
+    #BB variable for custom buttons
+    self.cstm_btns = UIButtons(self,"Gm","gm")
+    
+    #BB pid holder for ALCA
+    self.pid = None
+    
+    #BB custom message counter
+    self.custom_alert_counter = -1 #set to 100 for 1 second display; carcontroller will take down to zero
+    
     # vEgo kalman filter
     dt = 0.01
     self.v_ego_kf = KF1D(x0=np.matrix([[0.], [0.]]),
@@ -64,7 +78,17 @@ def __init__(self, CP, canbus):
                          C=np.matrix([1., 0.]),
                          K=np.matrix([[0.12287673], [0.29666309]]))
     self.v_ego = 0.
-
+    #BB init ui buttons
+  def init_ui_buttons(self):
+    btns = []
+    btns.append(UIButton("","",0,"",0))
+    btns.append(UIButton("","",0,"",1))
+    btns.append(UIButton("","",0,"",2))
+    btns.append(UIButton("","",0,"",3))
+    btns.append(UIButton("","",0,"",4))
+    btns.append(UIButton("lka","LKA",0,"",5))
+    return btns
+ 
   def update(self, pt_cp):
 
     self.can_valid = pt_cp.can_valid

From d8f4cca06fc8380620a14c2017362fcdb40f3a3a Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 21:41:37 +0200
Subject: [PATCH 11/21] Update carstate.py

---
 selfdrive/car/gm/carstate.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 5f1b548d895c8e..4878d897511373 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -81,12 +81,12 @@ def __init__(self, CP, canbus):
     #BB init ui buttons
   def init_ui_buttons(self):
     btns = []
-    btns.append(UIButton("","",0,"",0))
+    btns.append(UIButton("lka","LKA",0,"",0))
     btns.append(UIButton("","",0,"",1))
     btns.append(UIButton("","",0,"",2))
     btns.append(UIButton("","",0,"",3))
     btns.append(UIButton("","",0,"",4))
-    btns.append(UIButton("lka","LKA",0,"",5))
+    btns.append(UIButton("","",0,"",5))
     return btns
  
   def update(self, pt_cp):

From 7a90f0e0c66a001fef5e981852af177e94bc38f7 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 21:46:42 +0200
Subject: [PATCH 12/21] Add update_ui_buttons

---
 selfdrive/car/gm/carstate.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index 4878d897511373..e9b7f90772ec41 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -81,13 +81,19 @@ def __init__(self, CP, canbus):
     #BB init ui buttons
   def init_ui_buttons(self):
     btns = []
-    btns.append(UIButton("lka","LKA",0,"",0))
+    btns.append(UIButton("","",0,"",0))
     btns.append(UIButton("","",0,"",1))
     btns.append(UIButton("","",0,"",2))
     btns.append(UIButton("","",0,"",3))
     btns.append(UIButton("","",0,"",4))
-    btns.append(UIButton("","",0,"",5))
+    btns.append(UIButton("lka","LKA",0,"",5))
     return btns
+  #BB update ui buttons
+  def update_ui_buttons(self,id,btn_status):
+    if self.cstm_btns.btns[id].btn_status > 0:
+        self.cstm_btns.btns[id].btn_status = btn_status * self.cstm_btns.btns[id].btn_status
+    else:
+        self.cstm_btns.btns[id].btn_status = btn_status
  
   def update(self, pt_cp):
 

From c332f2083523c373a386462ef77365afe41fdfca Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 21:53:07 +0200
Subject: [PATCH 13/21] Add cstm_btns.send_button_info

---
 selfdrive/car/gm/carcontroller.py | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index ebe33689c64d1d..fdf2f2a86e53bd 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -80,7 +80,12 @@ def __init__(self, canbus, car_fingerprint, allow_controls):
   def update(self, sendcan, enabled, CS, frame, actuators, \
              hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt):
     """ Controls thread """
-
+#update custom UI buttons and alerts
+    CS.UE.update_custom_ui()
+    if (frame % 1000 == 0):
+      CS.cstm_btns.send_button_info()
+      CS.UE.uiSetCarEvent(CS.cstm_btns.car_folder,CS.cstm_btns.car_name)
+      
     # Sanity check.
     if not self.allow_controls:
       return

From ba58ec4a2e8c55652b825220ffabf744379bdb8c Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 22:05:21 +0200
Subject: [PATCH 14/21] Add gas button

---
 selfdrive/car/gm/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index e9b7f90772ec41..fdc58eac422542 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -85,7 +85,7 @@ def init_ui_buttons(self):
     btns.append(UIButton("","",0,"",1))
     btns.append(UIButton("","",0,"",2))
     btns.append(UIButton("","",0,"",3))
-    btns.append(UIButton("","",0,"",4))
+    btns.append(UIButton("gas","GAS",0,"",4))
     btns.append(UIButton("lka","LKA",0,"",5))
     return btns
   #BB update ui buttons

From a7bff8ca695e7b75152c48ec9a236fd64ecca57c Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 22:08:15 +0200
Subject: [PATCH 15/21] Add lka button code

---
 selfdrive/car/gm/carcontroller.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index fdf2f2a86e53bd..6739da8f424c4b 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -107,7 +107,8 @@ def update(self, sendcan, enabled, CS, frame, actuators, \
 
       self.apply_steer_last = apply_steer
       idx = (frame / P.STEER_STEP) % 4
-
+      if CS.cstm_btns.get_button_status("lka") == 0:
+        apply_steer = 0
       if self.car_fingerprint == CAR.VOLT:
         can_sends.append(gmcan.create_steering_control(self.packer_pt,
           canbus.powertrain, apply_steer, idx, lkas_enabled))

From c41bb1337d48536fedfdb4ad10bd53dcf3e6cfaf Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Sun, 14 Oct 2018 22:10:36 +0200
Subject: [PATCH 16/21] add gasbuttonstatus

---
 selfdrive/car/gm/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 9386d40461ed78..88d1e0fb45ba3f 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -243,7 +243,7 @@ def update(self, c):
       buttonEvents.append(be)
 
     ret.buttonEvents = buttonEvents
-
+    ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
     events = []
     if not self.CS.can_valid:
       self.can_invalid_count += 1

From 9490808d0227f2efe6aee8ebd3617e5d8065ba23 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Mon, 15 Oct 2018 18:31:15 +0200
Subject: [PATCH 17/21] add gasbuttonstatus

---
 selfdrive/car/honda/interface.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 2bff2e74601b6d..d72f49887d57a1 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -472,7 +472,7 @@ def update(self, c):
       # TODO: more buttons?
       buttonEvents.append(be)
     ret.buttonEvents = buttonEvents
-
+    ret.gasbuttonstatus = self.CS.cstm_btns.get_button_status("gas")
     # events
     # TODO: I don't like the way capnp does enums
     # These strings aren't checked at compile time

From da3fe4baa208d09e666374f025244b596390ecff Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Mon, 15 Oct 2018 18:32:00 +0200
Subject: [PATCH 18/21] Add Gas button

---
 selfdrive/car/honda/carstate.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index 7e04435802f370..0d51dbcee65b1b 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -183,7 +183,7 @@ def init_ui_buttons(self):
     btns.append(UIButton("","",0,"",2))
     btns.append(UIButton("sound","SND",1,"",3))
     btns.append(UIButton("","",0,"",4))
-    btns.append(UIButton("","",0,"",5))
+    btns.append(UIButton("gas","Gas",0,"",5))
     return btns
 
   #BB update ui buttons

From e33393650e86758e0b42fb387f3a73f2c19a8ae3 Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Mon, 15 Oct 2018 19:30:48 +0200
Subject: [PATCH 19/21] Create dashcam.h

---
 selfdrive/ui/dashcam.h | 164 +++++++++++++++++++++++++++++++++++++++++
 1 file changed, 164 insertions(+)
 create mode 100644 selfdrive/ui/dashcam.h

diff --git a/selfdrive/ui/dashcam.h b/selfdrive/ui/dashcam.h
new file mode 100644
index 00000000000000..4f503a48980db8
--- /dev/null
+++ b/selfdrive/ui/dashcam.h
@@ -0,0 +1,164 @@
+#include <time.h>
+
+#define CAPTURE_STATE_NONE 0
+#define CAPTURE_STATE_CAPTURING 1
+#define CAPTURE_STATE_NOT_CAPTURING 2
+#define RECORD_INTERVAL 60 // Time in seconds to rotate recordings
+#define RECORD_FILES 3 // Number of files to create before looping over
+
+int captureState = CAPTURE_STATE_NOT_CAPTURING;
+int captureNum = 1;
+int start_time = 0; 
+int elapsed_time = 0; // Time of current recording
+
+//TBD - need to implement locking current video
+bool lock_current_video = false; // If true save the current video before rotating
+
+void stop_capture() {
+  if (captureState == CAPTURE_STATE_CAPTURING) {
+    //printf("Stop capturing screen\n");
+    system("killall -SIGINT screenrecord");
+    captureState = CAPTURE_STATE_NOT_CAPTURING;
+  }
+}
+
+int get_time() {
+  // Get current time (in seconds)
+
+  int iRet;
+  struct timeval tv;
+  int seconds = 0;
+
+  iRet = gettimeofday(&tv,NULL);
+  if (iRet == 0) {
+    seconds = (int)tv.tv_sec;
+  }
+  return seconds;
+}
+
+void start_capture() {
+  char cmd[50] = "";
+  //////////////////////////////////
+  // NOTE: make sure /sdcard/videos/ folder exists on the device!
+  //////////////////////////////////
+  snprintf(cmd,sizeof(cmd),"screenrecord /sdcard/videos/video%d.mp4&",captureNum);
+  //printf("Capturing to file: %s\n",cmd);
+  start_time = get_time();
+  system(cmd);
+
+  if (captureNum >= RECORD_FILES) {
+    captureNum = 1;
+  }
+  else {
+    captureNum++;
+  }
+}
+
+bool screen_button_clicked(int touch_x, int touch_y) {
+  if (touch_x >= 1660 && touch_x <= 1810) {
+    if (touch_y >= 885 && touch_y <= 1035) {
+      return true;
+    }
+  }
+  return false;
+}
+
+void draw_date_time(UIState *s) {
+  // Draw the current date/time
+
+  int rect_w = 465;
+  int rect_h = 80;
+  int rect_x = (1920-rect_w)/2;
+  int rect_y = (1080-rect_h-10);
+
+  // Get local time to display
+  time_t t = time(NULL);
+  struct tm tm = *localtime(&t);
+  char now[50] = "";
+  snprintf(now,sizeof(now),"%04d/%02d/%02d  %02d:%02d:%02d", tm.tm_year + 1900, tm.tm_mon + 1, tm.tm_mday, tm.tm_hour, tm.tm_min, tm.tm_sec);
+
+  nvgBeginPath(s->vg);
+    nvgRoundedRect(s->vg, rect_x, rect_y, rect_w, rect_h, 15);
+    nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+    nvgStrokeWidth(s->vg, 6);
+    nvgStroke(s->vg);
+
+  nvgFontSize(s->vg, 60);
+    nvgFontFace(s->vg, "sans-semibold");
+    nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+    nvgText(s->vg,rect_x+17,rect_y+55,now,NULL);
+}
+
+static void rotate_video() {
+  // Overwrite the existing video (if needed)
+  elapsed_time = 0;
+  stop_capture();
+  captureState = CAPTURE_STATE_CAPTURING;
+  start_capture();
+}
+
+static void screen_draw_button(UIState *s, int touch_x, int touch_y) {
+  // Set button to bottom left of screen
+  if (s->vision_connected && s->plus_state == 0) {
+
+    int btn_w = 150;
+    int btn_h = 150;
+    int btn_x = 1920 - btn_w;
+    int btn_y = 1080 - btn_h;
+    nvgBeginPath(s->vg);
+      nvgRoundedRect(s->vg, btn_x-110, btn_y-45, btn_w, btn_h, 100);
+      nvgStrokeColor(s->vg, nvgRGBA(255,255,255,80));
+      nvgStrokeWidth(s->vg, 6);
+      nvgStroke(s->vg);
+
+      nvgFontSize(s->vg, 70);
+
+      if (captureState == CAPTURE_STATE_CAPTURING) {
+        NVGcolor fillColor = nvgRGBA(255,0,0,150);
+        nvgFillColor(s->vg, fillColor);
+        nvgFill(s->vg);
+        nvgFillColor(s->vg, nvgRGBA(255,255,255,200));
+      }
+      else {
+        nvgFillColor(s->vg, nvgRGBA(255, 255, 255, 200));
+      }
+      nvgText(s->vg,btn_x-88,btn_y+50,"REC",NULL);
+  }
+
+  if (captureState == CAPTURE_STATE_CAPTURING) {
+    draw_date_time(s);
+
+    elapsed_time = get_time() - start_time;
+
+    if (elapsed_time >= RECORD_INTERVAL) {
+      rotate_video();
+    }
+  }
+}
+
+void screen_toggle_record_state() {
+  if (captureState == CAPTURE_STATE_CAPTURING) {
+    captureState = CAPTURE_STATE_NOT_CAPTURING;
+  }
+  else {
+    captureState = CAPTURE_STATE_CAPTURING;
+  }
+}
+
+void screen_capture( UIState *s, int touch_x, int touch_y ) {
+  screen_draw_button(s, touch_x, touch_y);
+  if (screen_button_clicked(touch_x,touch_y)) {
+    screen_toggle_record_state();
+
+    if (captureState == CAPTURE_STATE_CAPTURING) {
+      start_capture();
+    }
+    else if (captureState == CAPTURE_STATE_NOT_CAPTURING) {
+      stop_capture();
+    }
+  }
+  else if (!s->vision_connected) {
+    // Assume car is not in drive so stop recording
+    stop_capture();
+  }
+}

From e030913a48192d4120a065067601ea75576985ea Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Mon, 15 Oct 2018 19:34:35 +0200
Subject: [PATCH 20/21] add dashcam.h

---
 selfdrive/ui/ui.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/selfdrive/ui/ui.c b/selfdrive/ui/ui.c
index c5f3b540378c55..9a316e077b7c16 100644
--- a/selfdrive/ui/ui.c
+++ b/selfdrive/ui/ui.c
@@ -240,7 +240,7 @@ typedef struct UIState {
   float light_sensor;
 } UIState;
 
-
+#include "dashcam.h"
 #include "bbui.h"
 
 static int last_brightness = -1;

From b725c056e8f80623077d977666c2efe237069a7b Mon Sep 17 00:00:00 2001
From: arne182 <arneschwarck@gmail.com>
Date: Mon, 15 Oct 2018 19:51:06 +0200
Subject: [PATCH 21/21] Make video directory into a variable

---
 selfdrive/ui/dashcam.h | 19 +++++++++++++++----
 1 file changed, 15 insertions(+), 4 deletions(-)

diff --git a/selfdrive/ui/dashcam.h b/selfdrive/ui/dashcam.h
index 4f503a48980db8..9041c73f1e56f1 100644
--- a/selfdrive/ui/dashcam.h
+++ b/selfdrive/ui/dashcam.h
@@ -37,11 +37,19 @@ int get_time() {
 }
 
 void start_capture() {
+  captureState = CAPTURE_STATE_CAPTURING;
   char cmd[50] = "";
+  char videos_dir[50] = "/sdcard/videos";
+
   //////////////////////////////////
-  // NOTE: make sure /sdcard/videos/ folder exists on the device!
+  // NOTE: make sure videos_dir folder exists on the device!
   //////////////////////////////////
-  snprintf(cmd,sizeof(cmd),"screenrecord /sdcard/videos/video%d.mp4&",captureNum);
+  struct stat st = {0};
+  if (stat(videos_dir, &st) == -1) {
+    mkdir(videos_dir,0700);
+  }
+
+  snprintf(cmd,sizeof(cmd),"screenrecord %s/video%d.mp4&",videos_dir,captureNum);
   //printf("Capturing to file: %s\n",cmd);
   start_time = get_time();
   system(cmd);
@@ -138,10 +146,11 @@ static void screen_draw_button(UIState *s, int touch_x, int touch_y) {
 
 void screen_toggle_record_state() {
   if (captureState == CAPTURE_STATE_CAPTURING) {
-    captureState = CAPTURE_STATE_NOT_CAPTURING;
+    stop_capture();
   }
   else {
-    captureState = CAPTURE_STATE_CAPTURING;
+    //captureState = CAPTURE_STATE_CAPTURING;
+    start_capture();
   }
 }
 
@@ -150,12 +159,14 @@ void screen_capture( UIState *s, int touch_x, int touch_y ) {
   if (screen_button_clicked(touch_x,touch_y)) {
     screen_toggle_record_state();
 
+/*
     if (captureState == CAPTURE_STATE_CAPTURING) {
       start_capture();
     }
     else if (captureState == CAPTURE_STATE_NOT_CAPTURING) {
       stop_capture();
     }
+*/
   }
   else if (!s->vision_connected) {
     // Assume car is not in drive so stop recording