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Add long press distance button support for HKG

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FrogAi
2024-03-08 17:59:54 -07:00
parent 1fd6a7ad2e
commit a6f0a457b7
1 changed files with 75 additions and 17 deletions
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selfdrive/car/hyundai/carstate.py
+75 -17
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@@ -10,6 +10,7 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
CANFD_CAR, Buttons, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
@@ -182,25 +183,52 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST
# Driving personalities function
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
# Change personality upon steering wheel button press
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.personality_profile = (self.previous_personality_profile + 2) % 3
if distance_pressed:
self.distance_pressed_counter += 1
if self.personality_profile != self.previous_personality_profile:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
@@ -296,27 +324,57 @@ class CarState(CarStateBase):
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
# Driving personalities function
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
# Change personality upon steering wheel button press
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.personality_profile = (self.previous_personality_profile + 2) % 3
if distance_pressed:
self.distance_pressed_counter += 1
if self.personality_profile != self.previous_personality_profile:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if lkas_pressed and not self.lkas_previously_pressed:
self.fpf.lkas_button_function(frogpilot_variables.conditional_experimental_mode)
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
SpeedLimitController.car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor