mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-04 04:52:09 +08:00
firestar5683
177 lines
8.9 KiB
Python
177 lines
8.9 KiB
Python
#!/usr/bin/env python3
|
|
from opendbc.safety import ALTERNATIVE_EXPERIENCE
|
|
from openpilot.common.params import Params
|
|
from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, ButtonType
|
|
from openpilot.selfdrive.selfdrived.events import ET
|
|
|
|
from openpilot.starpilot.common.experimental_state import (
|
|
CEStatus,
|
|
next_manual_ce_status,
|
|
sync_manual_ce_state,
|
|
)
|
|
from openpilot.starpilot.common.starpilot_utilities import is_FrogsGoMoo
|
|
from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
|
|
|
|
class StarPilotCard:
|
|
def __init__(self, CP, FPCP):
|
|
self.CP = CP
|
|
|
|
self.params = Params(return_defaults=True)
|
|
self.params_memory = Params(memory=True)
|
|
|
|
self.accel_pressed = False
|
|
self.always_on_lateral_allowed = False
|
|
self.prev_active = False
|
|
self.decel_pressed = False
|
|
self.distancePressed_previously = False
|
|
self.force_coast = False
|
|
self.modePressed_previously = False
|
|
self.mode_counter = 0
|
|
self.customPressed_previously = False
|
|
self.custom_counter = 0
|
|
self.pause_lateral = False
|
|
self.pause_longitudinal = False
|
|
self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
|
|
self.traffic_mode_enabled = False
|
|
|
|
self.gap_counter = 0
|
|
|
|
self.always_on_lateral_set = bool(FPCP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
|
|
self.frogs_go_moo = is_FrogsGoMoo()
|
|
|
|
self.long_press_threshold = CRUISE_LONG_PRESS
|
|
self.very_long_press_threshold = CRUISE_LONG_PRESS * 5
|
|
|
|
self.error_log = ERROR_LOGS_PATH / "error.txt"
|
|
|
|
def handle_button_event(self, key, sm, starpilot_toggles):
|
|
if sm["carControl"].longActive and getattr(starpilot_toggles, f"experimental_mode_via_{key}"):
|
|
self.handle_experimental_mode(sm, starpilot_toggles)
|
|
elif getattr(starpilot_toggles, f"bookmark_via_{key}"):
|
|
self.handle_bookmark()
|
|
elif getattr(starpilot_toggles, f"force_coast_via_{key}"):
|
|
self.force_coast = not self.force_coast
|
|
elif getattr(starpilot_toggles, f"pause_lateral_via_{key}"):
|
|
self.pause_lateral = not self.pause_lateral
|
|
elif getattr(starpilot_toggles, f"pause_longitudinal_via_{key}"):
|
|
self.pause_longitudinal = not self.pause_longitudinal
|
|
elif getattr(starpilot_toggles, f"switchback_mode_via_{key}"):
|
|
self.switchback_mode_enabled = not self.switchback_mode_enabled
|
|
self.params_memory.put_bool("SwitchbackModeEnabled", self.switchback_mode_enabled)
|
|
elif sm["carControl"].longActive and getattr(starpilot_toggles, f"traffic_mode_via_{key}"):
|
|
self.traffic_mode_enabled = not self.traffic_mode_enabled
|
|
|
|
def handle_bookmark(self):
|
|
counter = self.params_memory.get_int("WheelButtonBookmarkCounter")
|
|
self.params_memory.put_int("WheelButtonBookmarkCounter", counter + 1)
|
|
|
|
def handle_experimental_mode(self, sm, starpilot_toggles):
|
|
if getattr(starpilot_toggles, "safe_mode", False):
|
|
return
|
|
|
|
if starpilot_toggles.conditional_experimental_mode:
|
|
current_status = self.params_memory.get_int("CEStatus", default=CEStatus["OFF"])
|
|
override_value = next_manual_ce_status(current_status, sm["selfdriveState"].experimentalMode)
|
|
self.params_memory.put_int("CEStatus", override_value)
|
|
sync_manual_ce_state(self.params, override_value)
|
|
else:
|
|
self.params.put_bool_nonblocking("ExperimentalMode", not sm["selfdriveState"].experimentalMode)
|
|
|
|
def update(self, carState, starpilotCarState, sm, starpilot_toggles):
|
|
self.switchback_mode_enabled = self.params_memory.get_bool("SwitchbackModeEnabled")
|
|
|
|
if self.CP.brand == "hyundai":
|
|
for be in carState.buttonEvents:
|
|
if be.type == ButtonType.lkas and be.pressed and starpilot_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 starpilot_toggles.always_on_lateral_main:
|
|
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
|
|
elif starpilot_toggles.always_on_lateral_main:
|
|
self.always_on_lateral_allowed = carState.cruiseState.available
|
|
|
|
# On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
|
|
# so that lateral persists when braking disengages longitudinal
|
|
if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
|
|
self.always_on_lateral_allowed = True
|
|
|
|
self.prev_active = sm["selfdriveState"].active
|
|
|
|
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["starpilotPlan"].lateralCheck
|
|
self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
|
|
self.always_on_lateral_enabled &= (ET.IMMEDIATE_DISABLE not in sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType) or self.frogs_go_moo
|
|
self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < starpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
|
|
self.always_on_lateral_enabled &= not self.error_log.is_file() or self.frogs_go_moo
|
|
|
|
if sm.updated["starpilotPlan"] 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)
|
|
|
|
if sm.updated["starpilotPlan"] or any(be.type == ButtonType.decelCruise for be in carState.buttonEvents):
|
|
self.decel_pressed = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents)
|
|
|
|
starpilotCarState.distancePressed |= self.params_memory.get_bool("OnroadDistanceButtonPressed")
|
|
|
|
if starpilotCarState.distancePressed:
|
|
self.gap_counter += 1
|
|
elif not self.distancePressed_previously:
|
|
self.gap_counter = 0
|
|
|
|
self.distancePressed_previously = starpilotCarState.distancePressed
|
|
|
|
if not starpilotCarState.distancePressed and 1 <= self.gap_counter < self.long_press_threshold:
|
|
self.handle_button_event("distance", sm, starpilot_toggles)
|
|
elif self.gap_counter == self.long_press_threshold:
|
|
self.handle_button_event("distance_long", sm, starpilot_toggles)
|
|
elif self.gap_counter == self.very_long_press_threshold:
|
|
self.handle_button_event("distance_long", sm, starpilot_toggles)
|
|
self.handle_button_event("distance_very_long", sm, starpilot_toggles)
|
|
|
|
if any(be.pressed and be.type == ButtonType.lkas for be in carState.buttonEvents):
|
|
self.handle_button_event("lkas", sm, starpilot_toggles)
|
|
|
|
if getattr(starpilot_toggles, "has_canfd_media_buttons", False):
|
|
if starpilotCarState.modePressed:
|
|
self.mode_counter += 1
|
|
elif not self.modePressed_previously:
|
|
self.mode_counter = 0
|
|
self.modePressed_previously = starpilotCarState.modePressed
|
|
|
|
if not starpilotCarState.modePressed and 1 <= self.mode_counter < self.long_press_threshold:
|
|
self.handle_button_event("mode", sm, starpilot_toggles)
|
|
elif self.mode_counter == self.long_press_threshold:
|
|
self.handle_button_event("mode_long", sm, starpilot_toggles)
|
|
elif self.mode_counter == self.very_long_press_threshold:
|
|
self.handle_button_event("mode_long", sm, starpilot_toggles)
|
|
self.handle_button_event("mode_very_long", sm, starpilot_toggles)
|
|
|
|
if starpilotCarState.customPressed:
|
|
self.custom_counter += 1
|
|
elif not self.customPressed_previously:
|
|
self.custom_counter = 0
|
|
self.customPressed_previously = starpilotCarState.customPressed
|
|
|
|
if not starpilotCarState.customPressed and 1 <= self.custom_counter < self.long_press_threshold:
|
|
self.handle_button_event("star", sm, starpilot_toggles)
|
|
elif self.custom_counter == self.long_press_threshold:
|
|
self.handle_button_event("star_long", sm, starpilot_toggles)
|
|
elif self.custom_counter == self.very_long_press_threshold:
|
|
self.handle_button_event("star_long", sm, starpilot_toggles)
|
|
self.handle_button_event("star_very_long", sm, starpilot_toggles)
|
|
|
|
self.force_coast &= not (carState.brakePressed or carState.gasPressed)
|
|
|
|
starpilotCarState.accelPressed = self.accel_pressed
|
|
starpilotCarState.alwaysOnLateralAllowed = self.always_on_lateral_allowed
|
|
starpilotCarState.alwaysOnLateralEnabled = self.always_on_lateral_enabled
|
|
starpilotCarState.decelPressed = self.decel_pressed
|
|
starpilotCarState.distanceLongPressed = self.very_long_press_threshold > self.gap_counter >= self.long_press_threshold
|
|
starpilotCarState.distanceVeryLongPressed = self.gap_counter >= self.very_long_press_threshold
|
|
starpilotCarState.forceCoast = self.force_coast
|
|
starpilotCarState.isParked = carState.gearShifter == GearShifter.park
|
|
starpilotCarState.pauseLateral = self.pause_lateral
|
|
starpilotCarState.pauseLongitudinal = self.pause_longitudinal
|
|
starpilotCarState.trafficModeEnabled = self.traffic_mode_enabled
|
|
|
|
return starpilotCarState
|