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This commit is contained in:
Jason Wen
2024-09-14 17:50:38 -04:00
parent a70f9a642d
commit a5d6fe83ae
1 changed files with 8 additions and 7 deletions
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selfdrive/controls/lib/sunnypilot/custom_stock_longitudinal_controller/controllers.py
+8 -7
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@@ -55,6 +55,10 @@ class CustomStockLongitudinalControllerBase(ABC):
ButtonControlState.loading: LoadingState(),
}
@abstractmethod
def create_mock_button_messages(self) -> list[SendCan]:
pass
def state_publish(self):
customStockLongitudinalControl = custom.CarControlSP.CustomStockLongitudinalControl.new_message()
customStockLongitudinalControl.state = self.button_state
@@ -82,15 +86,11 @@ class CustomStockLongitudinalControllerBase(ABC):
self.steady_speed = cur_speed
return self.steady_speed
def get_cruise_button(self, CS: car.CarState) -> int:
def get_cruise_button(self, CS: car.CarState) -> None:
self.target_speed = round(self.final_speed_kph * (CV.KPH_TO_MPH if not self.car_state.params_list.is_metric else 1))
self.v_cruise = round(CS.cruiseState.speed * (CV.MS_TO_MPH if not self.car_state.params_list.is_metric else CV.MS_TO_KPH))
cruise_button = self.button_states[self.button_state](self, CS)
return cruise_button
@abstractmethod
def create_mock_button_messages(self) -> list[SendCan]:
pass
self.cruise_button = self.button_states[self.button_state](self, CS)
def update(self, CS: car.CarState, CC: car.CarControl) -> list[SendCan]:
self.is_active = CS.cruiseState.enabled and not CC.cruiseControl.cancel and not CC.cruiseControl.resume
@@ -105,7 +105,8 @@ class CustomStockLongitudinalControllerBase(ABC):
self.v_cruise_min = get_set_point(self.car_state.params_list.is_metric)
self.final_speed_kph = self.get_v_target(CC)
self.cruise_button = self.get_cruise_button(CS)
self.get_cruise_button(CS)
can_sends = self.create_mock_button_messages()