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minor refactor

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MoreTorque
2024-09-25 08:48:19 -05:00
committed by MoreTore
parent 3cdd82a1b8
commit 7a479cc82b
2 changed files with 9 additions and 5 deletions
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selfdrive/car/mazda/carcontroller.py
+2 -2
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@@ -92,7 +92,7 @@ class CarController(CarControllerBase):
if CS.out.standstill: # if we're stopped
if not self.hold_delay.active(): # and we have been stopped for more than hold_delay duration. This prevents a hard brake if we aren't fully stopped.
if (CC.cruiseControl.resume or CC.cruiseControl.override or CS.out.gasPressed or
CC.actuators.longControlState == LongCtrlState.starting): # and we want to resume
(CC.actuators.longControlState == LongCtrlState.starting)): # and we want to resume
self.resume_timer.reset() # reset the resume timer so its active
else: # otherwise we're holding
hold = self.hold_timer.active() # hold for 6s. This allows the electric brake to hold the car.
@@ -102,7 +102,7 @@ class CarController(CarControllerBase):
self.hold_delay.reset() # reset the hold delay
resume = self.resume_timer.active() # stay on for 0.5s to release the brake. This allows the car to move.
can_sends.append(mazdacan.create_acc_cmd(self.packer, CS.acc, CC.actuators.accel, hold, resume))
can_sends.append(mazdacan.create_acc_cmd(self, self.packer, CS, CC, hold, resume))
# send steering command
can_sends.extend(mazdacan.create_steering_control(self.packer, self.CP,
selfdrive/car/mazda/mazdacan.py
+7 -3
View File
@@ -177,6 +177,7 @@ STATIC_DATA_365 = [0xFFF7FE7F, 0xFBFF3FC]
STATIC_DATA_366 = [0xFFF7FE7F, 0xFBFF3FC]
static_data_list = [STATIC_DATA_361, STATIC_DATA_362, STATIC_DATA_363, STATIC_DATA_364, STATIC_DATA_365, STATIC_DATA_366]
# GEN1 radar interceptor
def create_radar_command(packer, frame, CC, CS, hold):
accel = 0
ret = []
@@ -228,13 +229,15 @@ def create_radar_command(packer, frame, CC, CS, hold):
return ret
def create_acc_cmd(packer, values, accel, hold, resume):
# GEN2 new mazdas
def create_acc_cmd(self, packer, CS, CC, hold, resume):
values = CS.acc
msg_name = "ACC"
bus = 2
if (values["ACC_ENABLED"]):
if Params().get_bool("ExperimentalLongitudinalEnabled"):
values["ACCEL_CMD"] = (accel * 240) + 2000
if Params().get_bool("ExperimentalLongitudinalEnabled") and CC.longActive:
values["ACCEL_CMD"] = (CC.actuators.accel * 240) + 2000
values["HOLD"] = hold
values["RESUME"] = resume
else:
@@ -242,3 +245,4 @@ def create_acc_cmd(packer, values, accel, hold, resume):
return packer.make_can_msg(msg_name, bus, values)