FrogPilot 0.9.7

selfdrive/car/mazda/interface.py

@@ -1,23 +1,22 @@
 #!/usr/bin/env python3
-from cereal import car
+from cereal import car, custom
 from openpilot.common.conversions import Conversions as CV
 from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
 from openpilot.selfdrive.car import create_button_events, get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
+FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
 
 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 = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
     ret.radarUnavailable = True
 
-    ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
-
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
 
@@ -31,11 +30,14 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   # returns a car.CarState
-  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)
 
      # TODO: add button types for inc and dec
-    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)
@@ -47,4 +49,4 @@ class CarInterface(CarInterfaceBase):
 
     ret.events = events.to_msg()
 
-    return ret
+    return ret, fp_ret