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Add warning when LatCtrl is off

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dragonpilot
2019-10-09 14:43:24 +10:00
parent 99fdd691a3
commit e5281a98fa
2 changed files with 9 additions and 3 deletions
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selfdrive/car/honda/interface.py
+3 -1
View File
@@ -104,6 +104,7 @@ class CarInterface(object):
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -387,6 +388,7 @@ class CarInterface(object):
if ts - self.ts_last_check > 5.:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
self.ts_last_check = ts
# ******************* do can recv *******************
@@ -503,7 +505,7 @@ class CarInterface(object):
# wait 1.0s before throwing the alert to avoid it popping when you turn off the car
if self.cp_cam.can_invalid_cnt >= 100 and self.CS.CP.carFingerprint not in HONDA_BOSCH and self.CP.enableCamera:
events.append(create_event('invalidGiraffeHonda', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if not self.CS.lkMode:
if not self.CS.lkMode or not self.dragon_lat_ctrl:
events.append(create_event('manualSteeringRequired', [ET.WARNING]))
elif self.CS.lkMode and (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
selfdrive/car/toyota/interface.py
+6 -2
View File
@@ -41,6 +41,7 @@ class CarInterface(object):
self.dragon_enable_steering_on_signal = False
self.dragon_allow_gas = False
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
@staticmethod
def compute_gb(accel, speed):
@@ -315,7 +316,8 @@ class CarInterface(object):
if ts - self.ts_last_check > 5.:
self.dragon_enable_steering_on_signal = False if params.get("DragonEnableSteeringOnSignal") == "0" else True
self.dragon_allow_gas = False if params.get("DragonAllowGas") == "0" else True
self.dragon_toyota_stock_dsu = False if params.get("DragonToyotaStockDSU") == "0" else True
self.dragon_toyota_stock_dsu = True if params.get("DragonToyotaStockDSU") == "1" else False
self.dragon_lat_ctrl = False if params.get("DragonLatCtrl") == "0" else True
self.ts_last_check = ts
# ******************* do can recv *******************
@@ -420,7 +422,9 @@ class CarInterface(object):
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse and self.CP.enableDsu:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
if not self.dragon_lat_ctrl:
events.append(create_event('manualSteeringRequired', [ET.WARNING]))
elif (self.CS.left_blinker_on or self.CS.right_blinker_on) and self.dragon_enable_steering_on_signal:
events.append(create_event('manualSteeringRequiredBlinkersOn', [ET.WARNING]))
elif self.CS.steer_error:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))