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started mads

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This commit is contained in:
Jason Wen
2024-08-05 17:58:52 -04:00
parent c607d8aa04
commit b3543efcb3
3 changed files with 17 additions and 22 deletions
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selfdrive/car/chrysler/interface.py
+1 -1
View File
@@ -116,7 +116,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
self.CS.madsEnabled = self.get_sp_started_mads(ret)
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
selfdrive/car/interfaces.py
+15 -20
View File
@@ -551,35 +551,32 @@ class CarInterfaceBase(ABC):
return v_cruise != V_CRUISE_UNSET
def get_acc_mads(self, cs_out):
mads_enabled = self.CS.madsEnabled
if self.CS.params_list.acc_mads_combo:
if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled):
mads_enabled = True
self.CS.madsEnabled = True
self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled)
return mads_enabled
return self.CS.madsEnabled
def get_sp_v_cruise_non_pcm_state(self, cs_out, vCruise,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise),
resume_button=(ButtonType.accelCruise, ButtonType.resumeCruise)):
acc_enabled = self.CS.accEnabled
if cs_out.cruiseState.available:
for b in self.CS.button_events:
if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
if b.type in enable_buttons and not b.pressed:
acc_enabled = True
self.CS.accEnabled = True
if not self.CP.pcmCruise:
if b.type in resume_button and not self.sp_v_cruise_initialized(vCruise):
acc_enabled = False
self.CS.accEnabled = False
if not self.CP.pcmCruiseSpeed:
if b.type == ButtonType.accelCruise and not cs_out.cruiseState.enabled:
acc_enabled = False
self.CS.accEnabled = False
else:
acc_enabled = False
self.CS.accEnabled = False
return acc_enabled
return self.CS.accEnabled
def get_sp_cancel_cruise_state(self):
self.CS.madsEnabled = False if not self.enable_mads or self.disengage_on_accelerator else self.CS.madsEnabled
@@ -593,22 +590,20 @@ class CarInterfaceBase(ABC):
def get_sp_cruise_main_state(self, cs_out):
if not self.CS.control_initialized:
mads_enabled = False
return False
elif not self.CS.params_list.mads_main_toggle:
mads_enabled = False
return False
else:
mads_enabled = cs_out.cruiseState.available
return cs_out.cruiseState.available
return mads_enabled
def get_sp_started_mads(self, cs_out, CS):
if not cs_out.cruiseState.available and CS.out.cruiseState.available:
def get_sp_started_mads(self, cs_out):
if not cs_out.cruiseState.available and self.CS.out.cruiseState.available:
self.madsEnabledInit = False
self.madsEnabledInitPrev = False
return False
if not self.CS.params_list.mads_main_toggle or self.prev_acc_mads_combo:
return CS.madsEnabled
if not self.madsEnabledInit and CS.madsEnabled:
return self.CS.madsEnabled
if not self.madsEnabledInit and self.CS.madsEnabled:
self.madsEnabledInit = True
self.last_mads_init = time.monotonic()
if cs_out.gearShifter not in FORWARD_GEARS:
@@ -619,7 +614,7 @@ class CarInterfaceBase(ABC):
self.madsEnabledInitPrev = True
return cs_out.cruiseState.available
else:
return CS.madsEnabled
return self.CS.madsEnabled
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
selfdrive/car/volkswagen/interface.py
+1 -1
View File
@@ -126,7 +126,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
self.CS.madsEnabled = self.get_sp_started_mads(ret)
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
if any(b.type == ButtonType.cancel for b in self.CS.button_events):