No actuation while in pre-enabled state (#23658)

* No actuation while in pre-enabled state

* update refs

selfdrive/car/gm/carcontroller.py

@@ -27,7 +27,7 @@ def __init__(self, dbc_name, CP, VM):
     self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
 
-  def update(self, enabled, CS, frame, actuators,
+  def update(self, c, enabled, CS, frame, actuators,
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
 
     P = self.params
@@ -41,7 +41,7 @@ def update(self, enabled, CS, frame, actuators,
     if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
       self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
     elif (frame % P.STEER_STEP) == 0:
-      lkas_enabled = enabled and not (CS.out.steerWarning or CS.out.steerError) and CS.out.vEgo > P.MIN_STEER_SPEED
+      lkas_enabled = c.active and not (CS.out.steerWarning or CS.out.steerError) and CS.out.vEgo > P.MIN_STEER_SPEED
       if lkas_enabled:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
@@ -58,7 +58,7 @@ def update(self, enabled, CS, frame, actuators,
 
     # Gas/regen and brakes - all at 25Hz
     if (frame % 4) == 0:
-      if not enabled:
+      if not c.active:
         # Stock ECU sends max regen when not enabled.
         self.apply_gas = P.MAX_ACC_REGEN
         self.apply_brake = 0

selfdrive/car/gm/interface.py

@@ -226,7 +226,7 @@ def apply(self, c):
     # In GM, PCM faults out if ACC command overlaps user gas.
     enabled = c.enabled and not self.CS.out.gasPressed
 
-    ret = self.CC.update(enabled, self.CS, self.frame,
+    ret = self.CC.update(c, enabled, self.CS, self.frame,
                          c.actuators,
                          hud_v_cruise, hud_control.lanesVisible,
                          hud_control.leadVisible, hud_control.visualAlert)

selfdrive/car/hyundai/carcontroller.py

@@ -46,15 +46,15 @@ def __init__(self, dbc_name, CP, VM):
     self.last_resume_frame = 0
     self.accel = 0
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
+  def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
              left_lane, right_lane, left_lane_depart, right_lane_depart):
     # Steering Torque
     new_steer = int(round(actuators.steer * self.p.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
     self.steer_rate_limited = new_steer != apply_steer
 
     # disable when temp fault is active, or below LKA minimum speed
-    lkas_active = enabled and not CS.out.steerWarning and CS.out.vEgo >= CS.CP.minSteerSpeed
+    lkas_active = c.active and not CS.out.steerWarning and CS.out.vEgo >= CS.CP.minSteerSpeed
 
     if not lkas_active:
       apply_steer = 0
@@ -89,7 +89,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hu
 
     if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
       lead_visible = False
-      accel = actuators.accel if enabled else 0
+      accel = actuators.accel if c.active else 0
 
       jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
 

selfdrive/car/hyundai/interface.py

@@ -347,7 +347,7 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
                          c.cruiseControl.cancel, hud_control.visualAlert, hud_control.setSpeed, hud_control.leftLaneVisible,
                          hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1

selfdrive/car/mazda/carcontroller.py

@@ -19,7 +19,7 @@ def update(self, c, CS, frame):
     apply_steer = 0
     self.steer_rate_limited = False
 
-    if c.enabled:
+    if c.active:
       # calculate steer and also set limits due to driver torque
       new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,

selfdrive/car/nissan/carcontroller.py

@@ -18,22 +18,20 @@ def __init__(self, dbc_name, CP, VM):
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
+  def update(self, c, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
              left_line, right_line, left_lane_depart, right_lane_depart):
-    """ Controls thread """
 
-    # Send CAN commands.
     can_sends = []
 
     ### STEER ###
-    acc_active = bool(CS.out.cruiseState.enabled)
+    acc_active = CS.out.cruiseState.enabled
     lkas_hud_msg = CS.lkas_hud_msg
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
     steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if enabled:
+    if c.active:
       # # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)

selfdrive/car/nissan/interface.py

@@ -79,7 +79,7 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
                          c.cruiseControl.cancel, hud_control.visualAlert,
                          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                          hud_control.leftLaneDepart, hud_control.rightLaneDepart)

selfdrive/car/subaru/carcontroller.py

@@ -15,7 +15,7 @@ def __init__(self, dbc_name, CP, VM):
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
     can_sends = []
 
@@ -30,7 +30,7 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, le
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
       self.steer_rate_limited = new_steer != apply_steer
 
-      if not enabled:
+      if not c.active:
         apply_steer = 0
 
       if CS.CP.carFingerprint in PREGLOBAL_CARS:

selfdrive/car/subaru/interface.py

@@ -123,7 +123,7 @@ def update(self, c, can_strings):
 
   def apply(self, c):
     hud_control = c.hudControl
-    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
+    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators,
                          c.cruiseControl.cancel, hud_control.visualAlert,
                          hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
     self.frame += 1

selfdrive/car/tesla/carcontroller.py

@@ -12,12 +12,12 @@ def __init__(self, dbc_name, CP, VM):
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, enabled, CS, frame, actuators, cruise_cancel):
+  def update(self, c, enabled, CS, frame, actuators, cruise_cancel):
     can_sends = []
 
     # Temp disable steering on a hands_on_fault, and allow for user override
     hands_on_fault = (CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3)
-    lkas_enabled = enabled and (not hands_on_fault)
+    lkas_enabled = c.active and (not hands_on_fault)
 
     if lkas_enabled:
       apply_angle = actuators.steeringAngleDeg

selfdrive/car/tesla/interface.py

@@ -71,6 +71,6 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
-    ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
+    ret = self.CC.update(c, c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
     self.frame += 1
     return ret

selfdrive/car/toyota/carcontroller.py

@@ -26,7 +26,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
              left_line, right_line, lead, left_lane_depart, right_lane_depart):
 
     # gas and brake
-    if CS.CP.enableGasInterceptor and enabled:
+    if CS.CP.enableGasInterceptor and active:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
       if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
@@ -49,7 +49,7 @@ def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_aler
     self.steer_rate_limited = new_steer != apply_steer
 
     # Cut steering while we're in a known fault state (2s)
-    if not enabled or CS.steer_state in (9, 25):
+    if not active or CS.steer_state in (9, 25):
       apply_steer = 0
       apply_steer_req = 0
     else:

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-f0d37f9fec3d36fef37df15f3865c3da068253c8
+d2ea206bf832dbc0625756d56820895e52d3029e