mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-08-07 15:15:41 +08:00
Code Issues Packages Projects Releases Wiki Activity

Gap Adjust Cruise: Fix carstate button press logic (#274)

Browse Source
This commit is contained in:
Jason Wen
2023-09-15 04:02:12 -04:00
committed by GitHub
parent a809a7f6fd
commit 04b62555a0
2 changed files with 12 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/interfaces.py
+5 -9
View File
@@ -470,25 +470,21 @@ class CarInterfaceBase(ABC):
gac_dict = GAC_DICT
return next((key for key, value in gac_dict.items() if value == gac_tr), gac_max)
def get_sp_gac_mpc(self, gac_tr: int):
gac_tr = clip(gac_tr, 1, 3)
return str(gac_tr - 1)
def toggle_gac(self, cs_out, CS, gac_button, gac_min, gac_max, gac_default, inc_dec):
if not self.CP.openpilotLongitudinalControl:
CS.gac_tr = gac_default
CS.gac_tr = 2
CS.gac_tr_cluster = gac_default
put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(3))
put_nonblocking("LongitudinalPersonality", 2)
return cs_out, CS
if gac_button:
self.gac_button_counter += 1
elif self.prev_gac_button and not gac_button and self.gac_button_counter < 50:
self.gac_button_counter = 0
CS.gac_tr = self.get_sp_gac_state(CS.gac_tr, gac_min, gac_max, inc_dec)
put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(CS.gac_tr))
CS.gac_tr = self.get_sp_gac_state(CS.gac_tr, 0, 2, inc_dec)
put_nonblocking("LongitudinalPersonality", str(CS.gac_tr))
else:
self.gac_button_counter = 0
CS.gac_tr_cluster = clip(CS.gac_tr, gac_min, gac_max)
CS.gac_tr_cluster = clip(CS.gac_tr + 1, gac_min, gac_max) # always 1 higher
self.prev_gac_button = gac_button
return cs_out, CS
selfdrive/car/toyota/interface.py
+7 -8
View File
@@ -316,26 +316,25 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
if not self.CP.openpilotLongitudinalControl:
cluster_gap_display = 3
self.CS.gac_tr_cluster = 3
put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(3))
put_nonblocking("LongitudinalPersonality", 2)
else:
gap_dist_button = bool(self.CS.gap_dist_button)
if gap_dist_button:
self.gac_button_counter += 1
elif self.prev_gac_button and not gap_dist_button and self.gac_button_counter < 50:
self.gac_button_counter = 0
follow_distance_converted = self.get_sp_gac_state(self.CS.follow_distance, GAC_MIN, GAC_MAX, "+")
gac_tr = self.get_sp_distance(follow_distance_converted, GAC_MAX, gac_dict=GAC_DICT)
pre_calculated_distance = 3 if self.CS.gac_tr == 3 else self.CS.follow_distance
follow_distance_converted = self.get_sp_gac_state(pre_calculated_distance, GAC_MIN, GAC_MAX, "+")
gac_tr = self.get_sp_distance(follow_distance_converted, GAC_MAX, gac_dict=GAC_DICT) - 1 # always 1 lower
if gac_tr != self.CS.gac_tr:
put_nonblocking("LongitudinalPersonality", self.get_sp_gac_mpc(gac_tr))
put_nonblocking("LongitudinalPersonality", str(gac_tr))
self.CS.gac_tr = gac_tr
else:
self.gac_button_counter = 0
self.prev_gac_button = gap_dist_button
cluster_gap_display = self.CS.gac_tr
self.CS.gac_tr_cluster = clip(cluster_gap_display, GAC_MIN, GAC_MAX)
gap_distance = self.get_sp_distance(cluster_gap_display, GAC_MAX, gac_dict=GAC_DICT)
self.CS.gac_tr_cluster = clip(self.CS.gac_tr + 1, GAC_MIN, GAC_MAX) # always 1 higher
gap_distance = self.get_sp_distance(self.CS.gac_tr_cluster, GAC_MAX, gac_dict=GAC_DICT)
if self.CS.gac_send_counter < 10 and gap_distance != self.CS.follow_distance:
self.CS.gac_send_counter += 1
self.CS.gac_send = 1