use custom cereal

cereal/custom.capnp

@@ -18,9 +18,17 @@ enum LongitudinalPersonalitySP {
   relaxed @3;
 }
 
+enum AccelerationProfile {
+  stock @0;
+  eco @1;
+  normal @2;
+  sport @3;
+}
+
 struct ControlsStateSP @0x81c2f05a394cf4af {
   lateralState @0 :Text;
   personality @8 :LongitudinalPersonalitySP;
+  accelProfile @9 :AccelerationProfile;
 
   lateralControlState :union {
     indiState @1 :LateralINDIState;

selfdrive/controls/controlsd.py

@@ -187,6 +187,8 @@ class Controls:
     model_capabilities = ModelCapabilities.get_by_gen(self.model_gen)
     self.model_use_lateral_planner = self.custom_model and model_capabilities & ModelCapabilities.LateralPlannerSolution
 
+    self.accel_profile = self.read_accel_profile_param()
+
     self.can_log_mono_time = 0
 
     self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
@@ -858,6 +860,7 @@ class Controls:
 
     controlsStateSP.lateralState = lat_tuning
     controlsStateSP.personality = self.personality
+    controlsStateSP.accelProfile = self.accel_profile
 
     if self.enable_nnff and lat_tuning == 'torque':
       controlsStateSP.lateralControlState.torqueState = self.LaC.pid_long_sp
@@ -906,11 +909,18 @@ class Controls:
     except (ValueError, TypeError):
       return custom.LongitudinalPersonalitySP.standard
 
+  def read_accel_profile_param(self):
+    try:
+      return int(self.params.get("AccelProfile"))
+    except (ValueError, TypeError):
+      return custom.AccelerationProfile.stock
+
   def params_thread(self, evt):
     while not evt.is_set():
       self.is_metric = self.params.get_bool("IsMetric")
       self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
       self.personality = self.read_personality_param()
+      self.accel_profile = self.read_accel_profile_param()
       if self.CP.notCar:
         self.joystick_mode = self.params.get_bool("JoystickDebugMode")
 

selfdrive/controls/lib/longitudinal_planner.py

@@ -106,7 +106,6 @@ class LongitudinalPlanner:
   def read_param(self):
     try:
       self.dynamic_experimental_controller.set_enabled(self.params.get_bool("DynamicExperimentalControl"))
-      self.accel_controller.set_profile(int(self.params.get("AccelProfile")))
     except AttributeError:
       self.dynamic_experimental_controller = DynamicExperimentalController()
       self.accel_controller = AccelController()
@@ -157,7 +156,7 @@ class LongitudinalPlanner:
       accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     # override accel using Accel Controller
-    if self.accel_controller.is_enabled():
+    if self.accel_controller.is_enabled(accel_profile=sm['controlsStateSP'].accelProfile):
       # get min, max from accel controller
       min_limit, max_limit = self.accel_controller.get_accel_limits(v_ego, accel_limits)
       if self.mpc.mode == 'acc':

selfdrive/controls/lib/sunnypilot/accel_controller.py

@@ -23,8 +23,11 @@
 
 # Last updated: June 5, 2024
 
+from cereal import custom
 from openpilot.common.numpy_fast import interp
 
+AccelProfile = custom.AccelerationProfile
+
 # accel profile by @arne182 modified by cgw
 _DP_CRUISE_MIN_V =       [-1.00,  -1.00,  -0.99,  -0.90,  -0.90,  -0.88,  -0.88,  -0.82]
 _DP_CRUISE_MIN_V_ECO =   [-1.00,  -1.00,  -0.98,  -0.88,  -0.88,  -0.86,  -0.86,  -0.80]
@@ -37,32 +40,15 @@ _DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 2.8, 2.4,  1.4,  1.0,  .89,  .75,  .50,  .2]
 _DP_CRUISE_MAX_BP =      [0.,  1.,  6.,  8.,   11.,  15.,  20.,  25.,  30.,  55.]
 
 
-class DPAccel:
-  STOCK = 0
-  ECO = 1
-  NORMAL = 2
-  SPORT = 3
-
-  @classmethod
-  def accel_val(cls):
-    return cls.STOCK, cls.ECO, cls.NORMAL, cls.SPORT
-
-
 class AccelController:
   def __init__(self):
-    self._profile = DPAccel.STOCK
-
-  def set_profile(self, profile: int):
-    try:
-      self._profile = profile if profile in DPAccel.accel_val() else DPAccel.STOCK
-    except (ValueError, TypeError):
-      self._profile = DPAccel.STOCK
+    self._profile = AccelProfile.stock
 
   def _dp_calc_cruise_accel_limits(self, v_ego: float):
-    if self._profile == DPAccel.ECO:
+    if self._profile == AccelProfile.eco:
       min_v = _DP_CRUISE_MIN_V_ECO
       max_v = _DP_CRUISE_MAX_V_ECO
-    elif self._profile == DPAccel.SPORT:
+    elif self._profile == AccelProfile.sport:
       min_v = _DP_CRUISE_MIN_V_SPORT
       max_v = _DP_CRUISE_MAX_V_SPORT
     else:
@@ -75,7 +61,8 @@ class AccelController:
     return a_cruise_min, a_cruise_max
 
   def get_accel_limits(self, v_ego: float, accel_limits: list[float]):
-    return accel_limits if self._profile == DPAccel.STOCK else self._dp_calc_cruise_accel_limits(v_ego)
+    return accel_limits if self._profile == AccelProfile.stock else self._dp_calc_cruise_accel_limits(v_ego)
 
-  def is_enabled(self):
-    return self._profile != DPAccel.STOCK
+  def is_enabled(self, accel_profile: int = AccelProfile.stock):
+    self._profile = accel_profile
+    return self._profile != AccelProfile.stock