Compiled on Apr.11,2024

RELEASES.md

@@ -1,5 +1,6 @@
 Version 0.9.6 (2024-02-27)
 ========================
+* 方向油门刹车状态 (2024-04-11)
 * D档数字+导出日志 (2024-04-07)
 * 指南针和车辆档位 (2024-04-06)
 * 新手指南汉化完成 (2024-03-30)

cereal/car.capnp

@@ -187,6 +187,7 @@ struct CarState {
 
   currentGearNumber @52 :Int16; # TEST ONSTAR GPS
   nextGearNumber @53 :Int16; # TEST ONSTAR GPS
+  brakePressed2 @54 :Bool;  # TEST_BRAKE_PEDAL
 
   yawRate @22 :Float32;     # best estimate of yaw rate
   standstill @18 :Bool;

selfdrive/car/gm/carstate.py

@@ -103,6 +103,11 @@ class CarState(CarStateBase):
       # To avoid a cruise fault we need to use a conservative brake position threshold
       # https://static.nhtsa.gov/odi/tsbs/2017/MC-10137629-9999.pdf
       ret.brakePressed = ret.brake >= 8
+    # TEST_BRAKE_PEDAL
+    if self.CP.carFingerprint in SDGM_CAR:
+      ret.brakePressed2 = ret.brakePressed or ret.brake >= 8
+    else:
+      ret.brakePressed2 = ret.brakePressed
 
     # Regen braking is braking
     if self.CP.transmissionType == TransmissionType.direct:

selfdrive/controls/controlsd.py

@@ -477,7 +477,10 @@ class Controls:
 
       # safety mismatch allows some time for boardd to set the safety mode and publish it back from panda
       if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200:
-        self.events.add(EventName.controlsMismatch)
+        if self.random_events: #Show Controls Mismatch Error
+          self.events.add(EventName.controlsMismatch)
+        else: #Shown as GPS alert
+          self.events.add(EventName.noGps)
 
       if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
         self.events.add(EventName.relayMalfunction)

selfdrive/controls/lib/events.py

@@ -258,12 +258,20 @@ def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messag
 
 
 def no_gps_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  return Alert(
-    "Poor GPS reception",
-    "Hardware malfunctioning if sky is visible",
-    AlertStatus.normal, AlertSize.mid,
-    Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
-
+  params = Params()
+  random_events = params.get_bool("RandomEvents")
+  if random_events: #Normal GPS Error
+    return Alert(
+      "Poor GPS reception",
+      "Hardware malfunctioning if sky is visible",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
+  else: #Show Controls Mismatch Error
+    return Alert(
+      "Controls Mismatch",
+      "请谨慎驾驶，人工接管方向盘",
+      AlertStatus.normal, AlertSize.mid,
+      Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=300.)
 
 def torque_nn_load_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
   model_name = params_memory.get("NNFFModelName")
@@ -751,7 +759,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.noGps: {
-    #ET.PERMANENT: no_gps_alert,
+    ET.PERMANENT: no_gps_alert,
   },
 
   EventName.soundsUnavailable: {

selfdrive/manager/manager.py

@@ -286,6 +286,7 @@ def manager_init() -> None:
     ("CalibrationCycles", "1"), 
     ("OnStarGPS", "0"),    
     ("GearNumber", "0"), #GEAR_NUMBER_TEST
+    ("GearNumber", "0"), #FROGPILOT_PREBUILT_TEST
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))