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Custom steering wheel button functions

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James
2025-12-01 12:00:00 -07:00
parent 461de7d0c0
commit 06df794db2
6 changed files with 94 additions and 3 deletions
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selfdrive/selfdrived/selfdrived.py
+17 -1
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@@ -155,6 +155,8 @@ class SelfdriveD:
self.frogpilot_AM = AlertManager()
self.frogpilot_events = Events(frogpilot=True)
self.distance_pressed_previously = False
self.frogpilot_events_prev = []
self.FPCP = messaging.log_from_bytes(self.params.get("FrogPilotCarParams", block=True), custom.FrogPilotCarParams)
@@ -426,11 +428,25 @@ class SelfdriveD:
# Decrement personality on distance button press
if self.CP.openpilotLongitudinalControl:
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
distance_pressed = False
if self.frogpilot_toggles.personality_profile_via_distance:
distance_pressed |= any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents)
distance_pressed &= not (self.sm['frogpilotCarState'].distanceLongPressed or self.sm['frogpilotCarState'].distanceVeryLongPressed)
if self.frogpilot_toggles.personality_profile_via_distance_long:
distance_pressed |= self.sm['frogpilotCarState'].distanceLongPressed
if self.frogpilot_toggles.personality_profile_via_distance_very_long:
distance_pressed |= self.sm['frogpilotCarState'].distanceVeryLongPressed
if self.frogpilot_toggles.personality_profile_via_lkas:
distance_pressed |= any(not be.pressed and be.type == ButtonType.lkas for be in CS.buttonEvents)
if not distance_pressed and self.distance_pressed_previously:
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', self.personality)
self.events.add(EventName.personalityChanged)
self.distance_pressed_previously = distance_pressed
# FrogPilot variables
self.frogpilot_events.add_from_msg(self.sm['frogpilotPlan'].frogpilotEvents)