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Nissan: Parse distance button from steering wheel (#31766)

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This commit is contained in:
Jason Wen
2024-03-12 00:58:55 -04:00
committed by GitHub
parent ab5c0f90b5
commit 82fa0d762c
2 changed files with 11 additions and 1 deletions
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selfdrive/car/nissan/carstate.py
+6
View File
@@ -20,9 +20,15 @@ class CarState(CarStateBase):
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.prev_distance_button = 0
self.distance_button = 0
def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message()
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]
if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
selfdrive/car/nissan/interface.py
+5 -1
View File
@@ -1,9 +1,11 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@@ -30,6 +32,8 @@ class CarInterface(CarInterfaceBase):
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
if self.CS.lkas_enabled: