mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-07-24 01:12:06 +08:00
Code Issues Packages Projects Releases Wiki Activity

sp common state

Browse Source
This commit is contained in:
Jason Wen
2024-08-05 17:30:43 -04:00
parent 6dc9f288bd
commit 5cf9cd7888
11 changed files with 25 additions and 26 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/chrysler/interface.py
+1 -1
View File
@@ -135,7 +135,7 @@ 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, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/ford/interface.py
+1 -1
View File
@@ -105,7 +105,7 @@ 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, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/gm/interface.py
+1 -1
View File
@@ -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, gap_button=bool(distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/honda/interface.py
+1 -1
View File
@@ -300,7 +300,7 @@ class CarInterface(CarInterfaceBase):
elif not ret.cruiseState.enabled:
self.CS.accEnabled = False
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_setting == 3))
ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_setting == 3))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/hyundai/interface.py
+1 -1
View File
@@ -241,7 +241,7 @@ class CarInterface(CarInterfaceBase):
self.get_sp_cancel_cruise_state()
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=(self.CS.cruise_buttons[-1] == 3))
ret = self.get_sp_common_state(ret, gap_button=(self.CS.cruise_buttons[-1] == 3))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/interfaces.py
+15 -15
View File
@@ -621,17 +621,17 @@ class CarInterfaceBase(ABC):
else:
return CS.madsEnabled
def get_sp_common_state(self, cs_out, CS, gear_allowed=True, gap_button=False):
cs_out.cruiseState.enabled = CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
def get_sp_common_state(self, cs_out, gear_allowed=True, gap_button=False):
cs_out.cruiseState.enabled = self.CS.accEnabled if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed else cs_out.cruiseState.enabled
if not self.enable_mads:
if cs_out.cruiseState.enabled and not CS.out.cruiseState.enabled:
CS.madsEnabled = True
elif not cs_out.cruiseState.enabled and CS.out.cruiseState.enabled:
CS.madsEnabled = False
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
self.CS.madsEnabled = True
elif not cs_out.cruiseState.enabled and self.CS.out.cruiseState.enabled:
self.CS.madsEnabled = False
if self.CP.openpilotLongitudinalControl:
self.toggle_exp_mode(gap_button)
self.toggle_exp_mode(gap_button) # TODO-SP: use buttonEvents to handle this, then remove gap_button
lane_change_speed_min = get_min_lateral_speed(self.CS.params_list.pause_lateral_speed, self.CS.params_list.is_metric)
@@ -643,22 +643,22 @@ class CarInterfaceBase(ABC):
cs_out.latActive = gear_allowed
if not CS.control_initialized:
CS.control_initialized = True
if not self.CS.control_initialized:
self.CS.control_initialized = True
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
if (cs_out.gasPressed and not self.CS.out.gasPressed and self.disengage_on_accelerator) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)) or \
(cs_out.regenBraking and (not self.CS.out.regenBraking or not cs_out.standstill)):
if CS.madsEnabled:
CS.disengageByBrake = True
if self.CS.madsEnabled:
self.CS.disengageByBrake = True
cs_out.madsEnabled = CS.madsEnabled
cs_out.accEnabled = CS.accEnabled
cs_out.disengageByBrake = CS.disengageByBrake
cs_out.madsEnabled = self.CS.madsEnabled
cs_out.accEnabled = self.CS.accEnabled
cs_out.disengageByBrake = self.CS.disengageByBrake
cs_out.brakeLightsDEPRECATED |= cs_out.brakePressed or cs_out.brakeHoldActive or cs_out.parkingBrake or cs_out.regenBraking
return cs_out, CS
return cs_out
# TODO: SP: use upstream's buttonEvents counter checks from controlsd
def toggle_exp_mode(self, gap_pressed):
selfdrive/car/mazda/interface.py
+1 -1
View File
@@ -71,7 +71,7 @@ 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, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/nissan/interface.py
+1 -1
View File
@@ -50,7 +50,7 @@ class CarInterface(CarInterfaceBase):
self.get_sp_cancel_cruise_state()
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(self.CS.distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/subaru/interface.py
+1 -1
View File
@@ -140,7 +140,7 @@ class CarInterface(CarInterfaceBase):
self.get_sp_cancel_cruise_state()
ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS)
ret = self.get_sp_common_state(ret)
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/toyota/interface.py
+1 -1
View File
@@ -238,7 +238,7 @@ 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, gap_button=bool(distance_button))
ret = self.get_sp_common_state(ret, gap_button=bool(distance_button))
ret.buttonEvents = [
*self.CS.button_events,
selfdrive/car/volkswagen/interface.py
+1 -2
View File
@@ -140,8 +140,7 @@ 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,
gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
ret = self.get_sp_common_state(ret, gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
ret.buttonEvents = [
*self.CS.button_events,