mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-03 20:42:09 +08:00
James
26 lines
1.0 KiB
Python
26 lines
1.0 KiB
Python
#!/usr/bin/env python3
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.cruise import ButtonType
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class FrogPilotCard:
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def __init__(self, CP, FPCP):
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self.CP = CP
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self.params = Params(return_defaults=True)
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self.params_memory = Params(memory=True)
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self.accel_pressed = False
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self.decel_pressed = False
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def update(self, carState, frogpilotCarState, sm, frogpilot_toggles):
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if sm.updated["frogpilotPlan"] or any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents):
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self.accel_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents)
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if sm.updated["frogpilotPlan"] or any(be.type == ButtonType.decelCruise for be in carState.buttonEvents):
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self.decel_pressed = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents)
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frogpilotCarState.accelPressed = self.accel_pressed
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frogpilotCarState.decelPressed = self.decel_pressed
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return frogpilotCarState
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