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Merge branch 'master-priv' into master-dev-c3

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This commit is contained in:
Jason Wen
2024-05-16 12:45:35 -04:00
parent 2efb958727 0a6bc53fc2
commit 2188a915b6
10 changed files with 26 additions and 30 deletions
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selfdrive/car/chrysler/interface.py
+1 -1
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@@ -141,7 +141,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
selfdrive/car/ford/interface.py
+1 -1
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@@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
selfdrive/car/gm/interface.py
+1 -1
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@@ -251,7 +251,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
selfdrive/car/hyundai/interface.py
+1 -1
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@@ -246,7 +246,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
selfdrive/car/interfaces.py
+17 -1
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@@ -593,7 +593,7 @@ class CarInterfaceBase(ABC):
else:
return CS.madsEnabled
def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True):
def get_sp_common_state(self, cs_out, CS, min_enable_speed_pcm=False, gear_allowed=True, gap_button=False):
cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed or min_enable_speed_pcm else \
cs_out.cruiseState.enabled
@@ -603,6 +603,9 @@ class CarInterfaceBase(ABC):
elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
CS.madsEnabled = False
if self.CP.openpilotLongitudinalControl:
self.toggle_exp_mode(gap_button)
cs_out.belowLaneChangeSpeed = cs_out.vEgo < LANE_CHANGE_SPEED_MIN and self.below_speed_pause
if cs_out.gearShifter in [GearShifter.park, GearShifter.reverse] or cs_out.doorOpen or \
@@ -628,6 +631,19 @@ class CarInterfaceBase(ABC):
return cs_out, CS
# TODO: SP: use upstream's buttonEvents counter checks from controlsd
def toggle_exp_mode(self, gap_pressed):
if gap_pressed:
if not self.experimental_mode_hold:
self.gap_button_counter += 1
if self.gap_button_counter > 50:
self.gap_button_counter = 0
self.experimental_mode_hold = True
self.param_s.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
else:
self.gap_button_counter = 0
self.experimental_mode_hold = False
def create_sp_events(self, CS, cs_out, events, main_enabled=False, allow_enable=True, enable_pressed=False,
enable_from_brake=False, enable_pressed_long=False,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
selfdrive/car/mazda/interface.py
+1 -1
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@@ -77,7 +77,7 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
selfdrive/car/nissan/interface.py
+1 -1
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@@ -51,7 +51,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
ret.cruiseState.enabled = False if self.CP.pcmCruise else self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
# CANCEL
if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
selfdrive/car/toyota/interface.py
+1 -1
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@@ -224,7 +224,7 @@ class CarInterface(CarInterfaceBase):
if not self.CP.pcmCruise:
ret.cruiseState.enabled = self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(distance_button))
# CANCEL
if self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
selfdrive/controls/controlsd.py
+1 -4
View File
@@ -761,12 +761,9 @@ class Controls:
# decrement personality on distance button press
if self.CP.openpilotLongitudinalControl:
if self.v_cruise_helper.update_personality:
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
self.personality = (self.personality - 1) % 3
self.params.put_nonblocking('LongitudinalPersonality', str(self.personality))
if self.v_cruise_helper.update_experimental_mode:
self.experimental_mode = not self.experimental_mode
self.params.put_bool_nonblocking('ExperimentalMode', self.experimental_mode)
return CC, lac_log
selfdrive/controls/lib/drive_helpers.py
+1 -18
View File
@@ -75,7 +75,7 @@ class VCruiseHelper:
self.v_cruise_kph = V_CRUISE_UNSET
self.v_cruise_cluster_kph = V_CRUISE_UNSET
self.v_cruise_kph_last = 0
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0, ButtonType.gapAdjustCruise: 0}
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
self.is_metric_prev = None
@@ -84,9 +84,6 @@ class VCruiseHelper:
self.slc_state_prev = SpeedLimitControlState.inactive
self.slc_speed_limit_offsetted = 0
self.update_personality = False
self.update_experimental_mode = False
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_UNSET
@@ -123,8 +120,6 @@ class VCruiseHelper:
long_press = False
button_type = None
update_personality = False
update_experimental_mode = False
v_cruise_delta = 1. if is_metric else IMPERIAL_INCREMENT
v_cruise_delta_mltplr = 10 if is_metric else 5
@@ -145,15 +140,6 @@ class VCruiseHelper:
if button_type is None:
return
if button_type == ButtonType.gapAdjustCruise and self.button_timers[ButtonType.gapAdjustCruise]:
if self.button_timers[ButtonType.gapAdjustCruise] < 50:
update_personality = True
elif self.button_timers[ButtonType.gapAdjustCruise] == 50:
update_experimental_mode = True
self.update_personality = update_personality
self.update_experimental_mode = update_experimental_mode
resume_button = ButtonType.accelCruise
if not self.CP.pcmCruiseSpeed:
if self.CP.carName == "chrysler":
@@ -168,9 +154,6 @@ class VCruiseHelper:
if not self.button_change_states[button_type]["enabled"]:
return
if button_type == ButtonType.gapAdjustCruise:
return
pressed_value = (1 if long_press else v_cruise_delta_mltplr) if reverse_acc else (v_cruise_delta_mltplr if long_press else 1)
long_press_state = not long_press if reverse_acc else long_press
v_cruise_delta = v_cruise_delta * pressed_value