firestar5683
120 lines
6.2 KiB
Python
120 lines
6.2 KiB
Python
#!/usr/bin/env python3
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from opendbc.safety import ALTERNATIVE_EXPERIENCE
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from openpilot.common.params import Params
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from openpilot.selfdrive.car.cruise import CRUISE_LONG_PRESS, ButtonType
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from openpilot.selfdrive.selfdrived.events import ET
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from openpilot.frogpilot.common.frogpilot_utilities import is_FrogsGoMoo
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from openpilot.frogpilot.common.frogpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
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from openpilot.frogpilot.controls.lib.conditional_experimental_mode import CEStatus
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class FrogPilotCard:
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def __init__(self, CP, FPCP):
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self.CP = CP
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self.params = Params(return_defaults=True)
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self.params_memory = Params(memory=True)
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self.accel_pressed = False
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self.always_on_lateral_allowed = False
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self.decel_pressed = False
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self.distancePressed_previously = False
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self.force_coast = False
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self.pause_lateral = False
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self.pause_longitudinal = False
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self.traffic_mode_enabled = False
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self.gap_counter = 0
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self.always_on_lateral_set = bool(FPCP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
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self.frogs_go_moo = is_FrogsGoMoo()
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self.long_press_threshold = CRUISE_LONG_PRESS * (1.5 if self.CP.brand == "gm" else 1)
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self.very_long_press_threshold = CRUISE_LONG_PRESS * 5
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self.error_log = ERROR_LOGS_PATH / "error.txt"
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def handle_button_event(self, key, sm, frogpilot_toggles):
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if sm["carControl"].longActive and getattr(frogpilot_toggles, f"experimental_mode_via_{key}"):
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self.handle_experimental_mode(sm, frogpilot_toggles)
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elif getattr(frogpilot_toggles, f"force_coast_via_{key}"):
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self.force_coast = not self.force_coast
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elif getattr(frogpilot_toggles, f"pause_lateral_via_{key}"):
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self.pause_lateral = not self.pause_lateral
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elif getattr(frogpilot_toggles, f"pause_longitudinal_via_{key}"):
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self.pause_longitudinal = not self.pause_longitudinal
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elif sm["carControl"].longActive and getattr(frogpilot_toggles, f"traffic_mode_via_{key}"):
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self.traffic_mode_enabled = not self.traffic_mode_enabled
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def handle_experimental_mode(self, sm, frogpilot_toggles):
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if frogpilot_toggles.conditional_experimental_mode:
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if self.params_memory.get_int("CEStatus") in (CEStatus["USER_DISABLED"], CEStatus["USER_OVERRIDDEN"]):
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override_value = CEStatus["OFF"]
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elif sm["selfdriveState"].experimentalMode:
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override_value = CEStatus["USER_DISABLED"]
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else:
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override_value = CEStatus["USER_OVERRIDDEN"]
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self.params_memory.put_int("CEStatus", override_value)
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else:
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self.params.put_bool_nonblocking("ExperimentalMode", not sm["selfdriveState"].experimentalMode)
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def update(self, carState, frogpilotCarState, sm, frogpilot_toggles):
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if self.CP.brand == "hyundai":
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for be in carState.buttonEvents:
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if be.type == ButtonType.lkas and be.pressed and frogpilot_toggles.always_on_lateral_lkas:
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self.always_on_lateral_allowed = not self.always_on_lateral_allowed
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elif be.type == ButtonType.mainCruise and be.pressed and frogpilot_toggles.always_on_lateral_main:
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self.always_on_lateral_allowed = not self.always_on_lateral_allowed
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elif frogpilot_toggles.always_on_lateral_main:
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self.always_on_lateral_allowed = carState.cruiseState.available
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self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
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self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
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self.always_on_lateral_enabled &= sm["frogpilotPlan"].lateralCheck
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self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
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self.always_on_lateral_enabled &= (ET.IMMEDIATE_DISABLE not in sm["selfdriveState"].alertType + sm["frogpilotSelfdriveState"].alertType) or self.frogs_go_moo
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self.always_on_lateral_enabled &= not (carState.brakePressed and carState.vEgo < frogpilot_toggles.always_on_lateral_pause_speed) or carState.standstill
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self.always_on_lateral_enabled &= not self.error_log.is_file() or self.frogs_go_moo
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if sm.updated["frogpilotPlan"] or any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents):
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self.accel_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in carState.buttonEvents)
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if sm.updated["frogpilotPlan"] or any(be.type == ButtonType.decelCruise for be in carState.buttonEvents):
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self.decel_pressed = any(be.type == ButtonType.decelCruise for be in carState.buttonEvents)
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frogpilotCarState.distancePressed |= self.params_memory.get_bool("OnroadDistanceButtonPressed")
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if frogpilotCarState.distancePressed:
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self.gap_counter += 1
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elif not self.distancePressed_previously:
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self.gap_counter = 0
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self.distancePressed_previously = frogpilotCarState.distancePressed
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if not frogpilotCarState.distancePressed and 1 <= self.gap_counter < self.long_press_threshold:
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self.handle_button_event("distance", sm, frogpilot_toggles)
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elif self.gap_counter == self.long_press_threshold:
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self.handle_button_event("distance_long", sm, frogpilot_toggles)
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elif self.gap_counter == self.very_long_press_threshold:
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self.handle_button_event("distance_long", sm, frogpilot_toggles)
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self.handle_button_event("distance_very_long", sm, frogpilot_toggles)
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if any(be.pressed and be.type == ButtonType.lkas for be in carState.buttonEvents):
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self.handle_button_event("lkas", sm, frogpilot_toggles)
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self.force_coast &= not (carState.brakePressed or carState.gasPressed)
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frogpilotCarState.accelPressed = self.accel_pressed
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frogpilotCarState.alwaysOnLateralEnabled = self.always_on_lateral_enabled
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frogpilotCarState.decelPressed = self.decel_pressed
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frogpilotCarState.distanceLongPressed = self.very_long_press_threshold > self.gap_counter >= self.long_press_threshold
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frogpilotCarState.distanceVeryLongPressed = self.gap_counter >= self.very_long_press_threshold
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frogpilotCarState.forceCoast = self.force_coast
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frogpilotCarState.isParked = carState.gearShifter == GearShifter.park
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frogpilotCarState.pauseLateral = self.pause_lateral
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frogpilotCarState.pauseLongitudinal = self.pause_longitudinal
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frogpilotCarState.trafficModeEnabled = self.traffic_mode_enabled
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return frogpilotCarState
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