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Ram: always prioritize user button presses (#142)

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* Ram: always prioritize user button presses

* Custom Stock Long Control: manual presses need to reset timer

* separate logic for ram_cars

* handle FCA resume button differently
This commit is contained in:
Jason Wen
2023-06-12 23:12:39 -04:00
committed by GitHub
parent f3c86bd9dd
commit 6b63ac47f6
1 changed files with 11 additions and 12 deletions
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selfdrive/car/chrysler/carcontroller.py
+11 -12
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@@ -102,24 +102,23 @@ class CarController:
if CS.button_counter != self.last_button_frame:
self.last_button_frame = CS.button_counter
button_counter = 0 if ram_cars else 1
if ram_cars:
if CS.buttonStates["cancel"]:
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True))
else:
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP,
cruise_buttons_msg=CS.cruise_buttons,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
# ACC cancellation
if CC.cruiseControl.cancel or (ram_cars and CS.buttonStates["cancel"]):
elif CC.cruiseControl.cancel:
self.last_button_frame = self.frame
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + button_counter, das_bus, self.CP, cancel=True))
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, cancel=True))
# ACC resume from standstill
elif CC.cruiseControl.resume or (ram_cars and CS.buttonStates["resumeCruise"]):
elif CC.cruiseControl.resume:
self.last_button_frame = self.frame
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + button_counter, das_bus, self.CP, resume=True))
elif ram_cars:
if any(CS.buttonStates[button_state] for button_state in ["accelCruise", "decelCruise"]):
button = 1 if CS.buttonStates["accelCruise"] else 2 if CS.buttonStates["decelCruise"] else 0
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, buttons=button))
else:
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cruise_buttons_msg=CS.cruise_buttons))
can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, self.CP, resume=True))
if not (CC.cruiseControl.cancel or CC.cruiseControl.resume) and not self.CP.pcmCruiseSpeed and CS.out.cruiseState.enabled:
self.button_frame += 1