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FrogPilot 0.9.7

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FrogAi
2024-06-27 10:22:08 -07:00
parent da00915ac8
commit b705b02e70
682 changed files with 181798 additions and 1348 deletions
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selfdrive/car/chrysler/interface.py
+30 -11
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@@ -1,18 +1,18 @@
#!/usr/bin/env python3
from cereal import car
from cereal import car, custom
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, candidate, fingerprint, car_fw, disable_openpilot_long, experimental_long, docs):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
# radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
ret.radarUnavailable = True # DBC[candidate]['radar'] is None
@@ -55,14 +55,24 @@ class CarInterface(CarInterfaceBase):
elif candidate == CAR.RAM_1500_5TH_GEN:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.88
ret.minSteerSpeed = 0.5
ret.minEnableSpeed = 14.5
# Older EPS FW allow steer to zero
if any(fw.ecu == 'eps' and b"68" < fw.fwVersion[:4] <= b"6831" for fw in car_fw):
ret.minSteerSpeed = 0.
elif candidate == CAR.RAM_HD_5TH_GEN:
ret.steerActuatorDelay = 0.2
ret.wheelbase = 3.785
ret.steerRatio = 15.61
ret.mass = 3405.
ret.minSteerSpeed = 16
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
# Some RAM HD use Chrysler button address
if 570 not in fingerprint[0]:
ret.flags |= ChryslerFlags.RAM_HD_ALT_BUTTONS.value
else:
raise ValueError(f"Unsupported car: {candidate}")
@@ -76,22 +86,31 @@ class CarInterface(CarInterfaceBase):
return ret
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
def _update(self, c, frogpilot_toggles):
ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_toggles)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
ret.buttonEvents = [
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.CP.carFingerprint in RAM_DT:
if self.CS.out.vEgo >= self.CP.minEnableSpeed:
self.low_speed_alert = False
if (self.CP.minEnableSpeed >= 14.5) and (self.CS.out.gearShifter != car.CarState.GearShifter.drive):
self.low_speed_alert = True
else:
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret
return ret, fp_ret