github-actions[bot]
f9fcc7adab
date: 2026-06-28T09:48:35 master commit: da6313dbe95b3f24bb5d8018b0e5f950f5823ca7
52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import log, custom
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from opendbc.car import structs
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from opendbc.car.chrysler.values import RAM_DT
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from openpilot.selfdrive.selfdrived.events import Events
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from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
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EventName = log.OnroadEvent.EventName
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EventNameSP = custom.OnroadEventSP.EventName
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GearShifter = structs.CarState.GearShifter
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class CarSpecificEventsSP:
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def __init__(self, CP: structs.CarParams, CP_SP: structs.CarParamsSP):
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self.CP = CP
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self.CP_SP = CP_SP
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self.low_speed_alert = False
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def update(self, CS: structs.CarState, events: Events):
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events_sp = EventsSP()
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if self.CP.brand == 'chrysler':
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if self.CP.carFingerprint in RAM_DT:
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# remove belowSteerSpeed event from CarSpecificEvents as RAM_DT uses a different logic
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if events.has(EventName.belowSteerSpeed):
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events.remove(EventName.belowSteerSpeed)
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# TODO-SP: use if/elif to have the gear shifter condition takes precedence over the speed condition
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# TODO-SP: add 1 m/s hysteresis
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if CS.vEgo >= self.CP.minEnableSpeed:
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self.low_speed_alert = False
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if self.CP.minEnableSpeed >= 14.5 and CS.gearShifter != GearShifter.drive:
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self.low_speed_alert = True
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if self.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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elif self.CP.brand == 'toyota':
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if self.CP.openpilotLongitudinalControl:
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if CS.cruiseState.standstill and not CS.brakePressed and self.CP_SP.enableGasInterceptor:
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if events.has(EventName.resumeRequired):
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events.remove(EventName.resumeRequired)
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return events_sp
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