mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-09 17:53:41 +08:00
Jason Wen
9d60846b70
* MADS: Tesla and Rivian support
* request lateral if acc is engaged
* try this out
* fix
* make sure we keep the toggle off for tesla
* namedtuple
* disallow steering past 90 degrees for rivian
* whoops
* Revert "Revert "MADS: Steering Mode on Brake Pedal Press (#687)" (#789)"
This reverts commit 8dec4ea5
* both rivian and tesla
* enforce disengage on brake steering mode for Rivian and Tesla
* wrong one
* MADS: Steering Mode on Brake Pedal Press
* bump
* bump
* descriptions
* bump
* bump
* no tesla or rivian yet
* codecov v5
* Revert "codecov v5"
This reverts commit a347e3fb27c0fbf2510b69fe8148b254fa93b8de.
* cleanup
* refactor description
* sync name
* fix
* make sure we don't allow if brake was already being pressed
* no longer needed
* proper ui!
* allow LKAS tx at all times with MADS
* extra
* this ain't right
* try this
* test only
* bring them back
* some dynamic checks
* dynamic description for mads toggle
* one place for limited platforms
* update tests
* angle when long, lkas when mads
* bump
65 lines
2.4 KiB
Python
65 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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try:
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return int(params.get("MadsSteeringMode"))
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except (ValueError, TypeError):
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return MadsSteeringModeOnBrake.REMAIN_ACTIVE
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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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