mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-23 20:52:06 +08:00
encapsulate in a class
This commit is contained in:
Jason Wen
+17
-14
@@ -43,25 +43,28 @@ def create_button_events(cur_btn: int, prev_btn: int, buttons_dict: dict[int, ca
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return events
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def create_cancel_event(long_enabled: bool, prev_long_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
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events: list[capnp.lib.capnp._DynamicStructBuilder] = []
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class ButtonEvents:
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def __init__(self) -> None:
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self.mads_event_lock: bool = True
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if not long_enabled and prev_long_enabled:
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events.append(car.CarState.ButtonEvent(pressed=True,
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type=ButtonType.cancel))
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return events
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@staticmethod
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def create_cancel_event(long_enabled: bool, prev_long_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
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events: list[capnp.lib.capnp._DynamicStructBuilder] = []
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if not long_enabled and prev_long_enabled:
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events.append(car.CarState.ButtonEvent(pressed=True,
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type=ButtonType.cancel))
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return events
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def create_mads_event(mads_enabled: bool, prev_mads_enabled: bool,
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mads_event_lock: bool) -> tuple[list[capnp.lib.capnp._DynamicStructBuilder], bool]:
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events: list[capnp.lib.capnp._DynamicStructBuilder] = []
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def create_mads_event(self, mads_enabled: bool, prev_mads_enabled: bool) -> list[capnp.lib.capnp._DynamicStructBuilder]:
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events: list[capnp.lib.capnp._DynamicStructBuilder] = []
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mads_changed = prev_mads_enabled != mads_enabled
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if (mads_changed and mads_event_lock) or (not mads_changed and not mads_event_lock):
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events.append(car.CarState.ButtonEvent(pressed=mads_event_lock, type=ButtonType.altButton1))
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mads_event_lock = not mads_event_lock
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mads_changed = prev_mads_enabled != mads_enabled
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if (mads_changed and self.mads_event_lock) or (not mads_changed and not self.mads_event_lock):
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events.append(car.CarState.ButtonEvent(pressed=self.mads_event_lock, type=ButtonType.altButton1))
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self.mads_event_lock = not self.mads_event_lock
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return events, mads_event_lock
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return events
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def gen_empty_fingerprint():
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@@ -1,7 +1,7 @@
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#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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@@ -139,7 +139,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# events
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@@ -1,7 +1,7 @@
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from cereal import car
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from panda import Panda
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.ford.fordcan import CanBus
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from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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@@ -109,7 +109,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
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@@ -6,7 +6,7 @@ from panda import Panda
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from openpilot.common.basedir import BASEDIR
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
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from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
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@@ -252,7 +252,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# The ECM allows enabling on falling edge of set, but only rising edge of resume
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@@ -6,7 +6,7 @@ from openpilot.common.numpy_fast import interp
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from openpilot.selfdrive.car.honda.hondacan import CanBus
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from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
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HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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@@ -305,7 +305,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# events
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@@ -7,7 +7,7 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, HyundaiFlagsSP,
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CANFD_UNSUPPORTED_LONGITUDINAL_CAR, NON_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
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UNSUPPORTED_LONGITUDINAL_CAR, Buttons
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from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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@@ -243,7 +243,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
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@@ -18,7 +18,7 @@ from openpilot.common.simple_kalman import KF1D, get_kalman_gain
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from openpilot.common.numpy_fast import clip
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from openpilot.common.params import Params
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
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from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG, ButtonEvents
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from openpilot.selfdrive.car.values import PLATFORMS
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from openpilot.selfdrive.controls.lib.desire_helper import get_min_lateral_speed
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from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, V_CRUISE_UNSET, get_friction
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@@ -254,6 +254,7 @@ class CarInterfaceBase(ABC):
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self.last_mads_init = 0.
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self.madsEnabledInit = False
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self.madsEnabledInitPrev = False
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self.button_events = ButtonEvents()
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self.lat_torque_nn_model = None
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eps_firmware = str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), ""))
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@@ -2,7 +2,7 @@
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from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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@@ -75,7 +75,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# events
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@@ -1,6 +1,6 @@
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from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event, create_cancel_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.nissan.values import CAR
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@@ -55,8 +55,8 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*self.CS.button_events,
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*create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled)
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
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@@ -1,6 +1,6 @@
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from cereal import car
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from panda import Panda
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from openpilot.selfdrive.car import get_safety_config, create_mads_event, create_cancel_event
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.subaru.values import CAR, GLOBAL_ES_ADDR, SubaruFlags, SubaruFlagsSP
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@@ -145,8 +145,8 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*self.CS.button_events,
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*create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
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@@ -5,7 +5,7 @@ from panda import Panda
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from panda.python import uds
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from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, ToyotaFlagsSP, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
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MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
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from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event, create_cancel_event
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.disable_ecu import disable_ecu
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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@@ -246,8 +246,8 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled)
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_cancel_event(ret.cruiseState.enabled, self.CS.out.cruiseState.enabled),
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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# events
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@@ -1,7 +1,7 @@
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from cereal import car
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from panda import Panda
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from openpilot.common.params import Params
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from openpilot.selfdrive.car import get_safety_config, create_mads_event
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from openpilot.selfdrive.car import get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
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VolkswagenFlagsSP
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@@ -146,7 +146,7 @@ class CarInterface(CarInterfaceBase):
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ret.buttonEvents = [
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*ret.buttonEvents,
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*create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled, self.mads_event_lock) # MADS BUTTON
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]
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events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
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