From 43f46169e9e418df7f3dc78a85cc73b866f40784 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Fri, 8 Mar 2024 15:48:24 -0500 Subject: [PATCH 1/3] GM Longitudinal: Display personality in instrument cluster --- selfdrive/car/gm/carcontroller.py | 2 +- selfdrive/car/gm/gmcan.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py index e010c5653664af..f8d747029b7523 100644 --- a/selfdrive/car/gm/carcontroller.py +++ b/selfdrive/car/gm/carcontroller.py @@ -118,7 +118,7 @@ def update(self, CC, CS, now_nanos): # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, - hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw)) + hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index bd1e29ce3bf40e..29683be713f422 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -102,17 +102,17 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values) -def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw): +def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw): target_speed = min(target_speed_kph, 255) values = { "ACCAlwaysOne": 1, "ACCResumeButton": 0, "ACCSpeedSetpoint": target_speed, - "ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive" + "ACCGapLevel": (hud_control.leadDistanceBars + 1) * enabled, # 3 "far", 0 "inactive" "ACCCmdActive": enabled, "ACCAlwaysOne2": 1, - "ACCLeadCar": lead_car_in_sight, + "ACCLeadCar": hud_control.leadVisible, "FCWAlert": 0x3 if fcw else 0 } From ff9f89f19a57a4f3e1d7f3589f4991ddd18b63a3 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Sun, 10 Mar 2024 00:04:53 -0500 Subject: [PATCH 2/3] Correct value Co-authored-by: Shane Smiskol --- selfdrive/car/gm/gmcan.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py index 29683be713f422..cea77985fb3bce 100644 --- a/selfdrive/car/gm/gmcan.py +++ b/selfdrive/car/gm/gmcan.py @@ -109,7 +109,7 @@ def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_con "ACCAlwaysOne": 1, "ACCResumeButton": 0, "ACCSpeedSetpoint": target_speed, - "ACCGapLevel": (hud_control.leadDistanceBars + 1) * enabled, # 3 "far", 0 "inactive" + "ACCGapLevel": hud_control.leadDistanceBars * enabled, # 3 "far", 0 "inactive" "ACCCmdActive": enabled, "ACCAlwaysOne2": 1, "ACCLeadCar": hud_control.leadVisible, From afa17b59d17deae854ad28411a031b175fee241b Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Mon, 11 Mar 2024 13:30:37 -0700 Subject: [PATCH 3/3] update refs --- selfdrive/test/process_replay/ref_commit | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index fe7d954a808e3e..0eedc6257bdbea 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -653f68e6be4689dc9dce1a93cb726d37b9c588d3 +fba62008efd13fb578de325f0cdb0a87fe5e28f0 \ No newline at end of file