mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-08 17:23:43 +08:00
Jason Wen
d6474aa0a9
# Conflicts: # .github/workflows/selfdrive_tests.yaml # common/params.h # common/params_keys.h # common/params_pyx.pyx # docs/CARS.md # opendbc_repo # panda # selfdrive/car/tests/test_models.py # selfdrive/pandad/pandad.cc # selfdrive/pandad/pandad.h # selfdrive/selfdrived/selfdrived.py # selfdrive/ui/translations/main_ar.ts # selfdrive/ui/translations/main_de.ts # selfdrive/ui/translations/main_es.ts # selfdrive/ui/translations/main_fr.ts # selfdrive/ui/translations/main_ja.ts # selfdrive/ui/translations/main_ko.ts # selfdrive/ui/translations/main_pt-BR.ts # selfdrive/ui/translations/main_th.ts # selfdrive/ui/translations/main_tr.ts # selfdrive/ui/translations/main_zh-CHS.ts # selfdrive/ui/translations/main_zh-CHT.ts # system/athena/athenad.py # system/athena/manage_athenad.py # system/manager/manager.py # system/sentry.py # uv.lock Sync: `commaai/opendbc:master` into `sunnypilot/opendbc:master` Sync: `commaai/panda:master` into `sunnypilot/panda:master`
62 lines
2.4 KiB
Python
62 lines
2.4 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 openpilot.common.params import Params
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from opendbc.car import structs
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from opendbc.safety import ALTERNATIVE_EXPERIENCE
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from opendbc.sunnypilot.car.hyundai.values import HyundaiFlagsSP, HyundaiSafetyFlagsSP
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class MadsSteeringModeOnBrake:
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REMAIN_ACTIVE = 0
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PAUSE = 1
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DISENGAGE = 2
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def get_mads_limited_brands(CP: structs.CarParams) -> bool:
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return CP.brand in ("rivian", "tesla")
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def read_steering_mode_param(CP: structs.CarParams, params: Params):
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if get_mads_limited_brands(CP):
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return MadsSteeringModeOnBrake.DISENGAGE
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return params.get("MadsSteeringMode", return_default=True)
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def set_alternative_experience(CP: structs.CarParams, params: Params):
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enabled = params.get_bool("Mads")
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steering_mode = read_steering_mode_param(CP, params)
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if enabled:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.ENABLE_MADS
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if steering_mode == MadsSteeringModeOnBrake.DISENGAGE:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_DISENGAGE_LATERAL_ON_BRAKE
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elif steering_mode == MadsSteeringModeOnBrake.PAUSE:
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CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.MADS_PAUSE_LATERAL_ON_BRAKE
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def set_car_specific_params(CP: structs.CarParams, CP_SP: structs.CarParamsSP, params: Params):
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if CP.brand == "hyundai":
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# TODO-SP: This should be separated from MADS module for future implementations
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# Use "HyundaiLongitudinalMainCruiseToggleable" param
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hyundai_cruise_main_toggleable = True
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if hyundai_cruise_main_toggleable:
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CP_SP.flags |= HyundaiFlagsSP.LONGITUDINAL_MAIN_CRUISE_TOGGLEABLE.value
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CP_SP.safetyParam |= HyundaiSafetyFlagsSP.LONG_MAIN_CRUISE_TOGGLEABLE
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# MADS Partial Support
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# MADS is currently partially supported for these platforms due to lack of consistent states to engage controls
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# Only MadsSteeringModeOnBrake.DISENGAGE is supported for these platforms
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# TODO-SP: To enable MADS full support for Rivian/Tesla, identify consistent signals for MADS toggling
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mads_partial_support = get_mads_limited_brands(CP)
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if mads_partial_support:
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params.put("MadsSteeringMode", 2)
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params.put_bool("MadsUnifiedEngagementMode", True)
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params.remove("MadsMainCruiseAllowed")
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