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Always On Lateral

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Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
This commit is contained in:
James
2025-12-01 12:00:00 -07:00
parent aa47ad829f
commit c8ba3e3b9e
49 changed files with 372 additions and 22 deletions
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frogpilot/controls/frogpilot_card.py
+24
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@@ -1,6 +1,10 @@
#!/usr/bin/env python3
from opendbc.safety import ALTERNATIVE_EXPERIENCE
from openpilot.common.params import Params
from openpilot.selfdrive.car.cruise import ButtonType
from openpilot.selfdrive.selfdrived.events import ET
from openpilot.frogpilot.common.frogpilot_variables import NON_DRIVING_GEARS
class FrogPilotCard:
def __init__(self, CP, FPCP):
@@ -10,9 +14,28 @@ class FrogPilotCard:
self.params_memory = Params(memory=True)
self.accel_pressed = False
self.always_on_lateral_allowed = False
self.decel_pressed = False
self.always_on_lateral_set = bool(FPCP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
def update(self, carState, frogpilotCarState, sm, frogpilot_toggles):
if self.CP.brand == "hyundai":
for be in carState.buttonEvents:
if be.type == ButtonType.lkas and be.pressed and frogpilot_toggles.always_on_lateral_lkas:
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
elif be.type == ButtonType.mainCruise and be.pressed and frogpilot_toggles.always_on_lateral_main:
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
elif frogpilot_toggles.always_on_lateral_main:
self.always_on_lateral_allowed = carState.cruiseState.available
self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
self.always_on_lateral_enabled &= sm["frogpilotPlan"].lateralCheck
self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
self.always_on_lateral_enabled &= (ET.IMMEDIATE_DISABLE not in sm["selfdriveState"].alertType + sm["frogpilotSelfdriveState"].alertType)
self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < frogpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
if sm.updated["frogpilotPlan"] or any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents):
self.accel_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents)
@@ -20,6 +43,7 @@ class FrogPilotCard:
self.decel_pressed = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents)
frogpilotCarState.accelPressed = self.accel_pressed
frogpilotCarState.alwaysOnLateralEnabled = self.always_on_lateral_enabled
frogpilotCarState.decelPressed = self.decel_pressed
return frogpilotCarState