Update interface.py

added acadia info

selfdrive/car/gm/interface.py

@@ -87,6 +87,17 @@ def get_params(candidate, fingerprint):
       ret.steerRatio = 15.7
       ret.steerRatioRear = 0.
       ret.centerToFront = ret.wheelbase * 0.4 # wild guess
+
+    elif candidate == CAR.ACADIA_DENALI:
+      # supports stop and go, but initial engage must be above 18mph (which include conservatism)
+      ret.minEnableSpeed = 18 * 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
+      ret.wheelbase = 2.69
+      ret.steerRatio = 15.7
+      ret.steerRatioRear = 0.
+      ret.centerToFront = ret.wheelbase * 0.4 # wild guess
 
     elif candidate == CAR.CADILLAC_CT6:
       # engage speed is decided by pcm
@@ -290,6 +301,40 @@ def update(self, c):
         # do disable on button down
         if b.type == "cancel" and b.pressed:
           events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
+
+    if self.CS.car_fingerprint == CAR.ACADIA_DENALI:
+
+      if self.CS.brake_error:
+        events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
+      if not self.CS.gear_shifter_valid:
+        events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+      if self.CS.esp_disabled:
+        events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
+      if not self.CS.main_on:
+        events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
+      if self.CS.gear_shifter == 3:
+        events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
+      if ret.vEgo < self.CP.minEnableSpeed:
+        events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
+      if self.CS.park_brake:
+        events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
+      # disable on pedals rising edge or when brake is pressed and speed isn't zero
+      if (ret.gasPressed and not self.gas_pressed_prev) or \
+        (ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
+        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:
+        # do enable on both accel and decel buttons
+        if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
+          events.append(create_event('buttonEnable', [ET.ENABLE]))
+        # do disable on button down
+        if b.type == "cancel" and b.pressed:
+          events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
 
     if self.CS.car_fingerprint == CAR.CADILLAC_CT6: