mirror of
https://gitlvb.teallvbs.xyz/IQ.Lvbs/IQ.Pilot.git
synced 2026-08-24 04:23:52 +08:00
IQ.Lvbs CI [bot]
53 lines
2.0 KiB
Python
53 lines
2.0 KiB
Python
"""
|
|
Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
|
|
|
|
Maps the distance/gap steering-wheel button to an IQ.Pilot action: holding it for
|
|
long enough toggles Experimental mode exactly once per hold. Only active when
|
|
IQ.Pilot owns longitudinal control and cruise is available.
|
|
"""
|
|
from cereal import car, custom
|
|
from iqdbc.car import structs
|
|
from openpilot.common.params import Params
|
|
|
|
_Button = car.CarState.ButtonEvent.Type
|
|
_IQEvent = custom.IQOnroadEvent.EventName
|
|
_GAP_BUTTON = _Button.gapAdjustCruise
|
|
|
|
HOLD_FRAMES_TO_TOGGLE = 50
|
|
|
|
|
|
class GapButtonActions:
|
|
def __init__(self, CP: structs.CarParams):
|
|
self._CP = CP
|
|
self._params = Params()
|
|
self._gap_hold_frames = 0
|
|
self._already_toggled = False
|
|
# read (and cleared) by the personality-decrement handler in selfdrived so a
|
|
# release that ends a toggle-hold does not also decrement personality
|
|
self.experimental_mode_switched = False
|
|
|
|
def update(self, CS, events, experimental_mode) -> None:
|
|
if not (self._CP.openpilotLongitudinalControl and CS.cruiseState.available):
|
|
return
|
|
self._advance_hold(CS)
|
|
self._toggle_experimental_on_long_hold(events, experimental_mode)
|
|
|
|
def _advance_hold(self, CS) -> None:
|
|
# once counting, keep incrementing each frame the hold persists
|
|
if self._gap_hold_frames > 0:
|
|
self._gap_hold_frames += 1
|
|
# a fresh press seeds the counter; a release zeroes it
|
|
for be in CS.buttonEvents:
|
|
if be.type.raw == _GAP_BUTTON:
|
|
self._gap_hold_frames = int(be.pressed)
|
|
if not be.pressed:
|
|
self._already_toggled = False
|
|
|
|
def _toggle_experimental_on_long_hold(self, events, experimental_mode) -> None:
|
|
if self._already_toggled or self._gap_hold_frames < HOLD_FRAMES_TO_TOGGLE:
|
|
return
|
|
self._params.put_bool_nonblocking("ExperimentalMode", not experimental_mode)
|
|
events.add(_IQEvent.experimentalToggled)
|
|
self._already_toggled = True
|
|
self.experimental_mode_switched = True
|