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implement in card

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This commit is contained in:
Jason Wen
2024-09-13 00:58:50 -04:00
parent f90cfc2d0a
commit 3097d451fe
2 changed files with 11 additions and 1 deletions
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selfdrive/car/card.py
+6
View File
@@ -73,6 +73,10 @@ class Car:
services = self.sm.data.keys() | {'longitudinalPlan'}
self.sm = messaging.SubMaster(list(services))
cslc_path = f'openpilot.selfdrive.controls.lib.sunnypilot.custom_stock_longitudinal_controller.car.{self.CP.carName}'
CustomStockLongitudinalController = __import__(cslc_path + '.controller', fromlist=['CustomStockLongitudinalController']).CustomStockLongitudinalController
self.custom_stock_longitudinal_controller = CustomStockLongitudinalController(self, self.CI.CC, self.CP)
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
@@ -177,6 +181,8 @@ class Car:
# send car controls over can
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
if not self.CP.pcmCruiseSpeed:
can_sends.extend(self.custom_stock_longitudinal_controller.update(CS, CC))
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
self.CC_prev = CC
selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+5 -1
View File
@@ -151,7 +151,7 @@ class CustomStockLongitudinalControllerBase(ABC):
def create_mock_button_messages(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
pass
def update(self, CS: car.CarState) -> None:
def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
if self.car.sm.updated['longitudinalPlanSP']:
self.v_tsc_state = self.car.sm['longitudinalPlanSP'].visionTurnControllerState
self.slc_state = self.car.sm['longitudinalPlanSP'].speedLimitControlState
@@ -174,3 +174,7 @@ class CustomStockLongitudinalControllerBase(ABC):
slc_active = not sl_inactive and not sl_temp_inactive
self.slc_active_stock = slc_active
can_sends = self.create_mock_button_messages(CS, CC)
return can_sends