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add alerts for lkmode

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This commit is contained in:
Rick Lan
2019-07-11 10:16:46 +10:00
parent a9e94ef9bb
commit fe46b24be5
2 changed files with 3 additions and 3 deletions
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selfdrive/car/honda/carcontroller.py
+2 -3
View File
@@ -72,7 +72,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "mini_car", "car", "X4",
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required", "dashed_lanes"])
class CarController(object):
@@ -126,8 +126,7 @@ class CarController(object):
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required, CS.lkMode)
# **** process the car messages ****
# *** compute control surfaces ***
selfdrive/car/honda/hondacan.py
+1
View File
@@ -77,6 +77,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx):
'SET_ME_X48': 0x48,
'STEERING_REQUIRED': hud.steer_required,
'SOLID_LANES': hud.lanes,
'DASHED_LANES': hud.dashed_lanes,
'BEEP': hud.beep,
}
commands.append(packer.make_can_msg('LKAS_HUD', bus, lkas_hud_values, idx))