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acc mads combo

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This commit is contained in:
Jason Wen
2024-08-05 17:24:06 -04:00
parent 5ac2ec83aa
commit c2c80a0c1a
11 changed files with 15 additions and 13 deletions
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selfdrive/car/chrysler/interface.py
+1 -1
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@@ -113,7 +113,7 @@ class CarInterface(CarInterfaceBase):
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.lkas_disabled = not self.CS.lkas_disabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
selfdrive/car/ford/interface.py
+1 -1
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@@ -89,7 +89,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = True
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/gm/interface.py
+1 -1
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@@ -235,7 +235,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = True
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/honda/interface.py
+1 -1
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@@ -277,7 +277,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = True
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/hyundai/interface.py
+1 -1
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@@ -225,7 +225,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = True
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
if not ret.cruiseState.available and self.CS.out.cruiseState.available:
self.CS.madsEnabled = False
selfdrive/car/interfaces.py
+5 -3
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@@ -550,11 +550,13 @@ class CarInterfaceBase(ABC):
def sp_v_cruise_initialized(v_cruise):
return v_cruise != V_CRUISE_UNSET
def get_acc_mads(self, cruiseState_enabled, acc_enabled, mads_enabled):
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 (cruiseState_enabled or acc_enabled):
if not self.prev_acc_mads_combo and (cs_out.cruiseState.enabled or self.CS.accEnabled):
mads_enabled = True
self.prev_acc_mads_combo = (cruiseState_enabled or acc_enabled)
self.prev_acc_mads_combo = (cs_out.cruiseState.enabled or self.CS.accEnabled)
return mads_enabled
selfdrive/car/mazda/interface.py
+1 -1
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@@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = True
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/nissan/interface.py
+1 -1
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@@ -41,7 +41,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/subaru/interface.py
+1 -1
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@@ -128,7 +128,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = not self.CS.madsEnabled
elif self.CS.prev_lkas_enabled != self.CS.lkas_enabled and self.CS.prev_lkas_enabled == 2 and self.CS.lkas_enabled != 1:
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/toyota/interface.py
+1 -1
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@@ -229,7 +229,7 @@ class CarInterface(CarInterfaceBase):
if (not self.CS.prev_lkas_enabled and self.CS.lkas_enabled) or \
(self.CS.prev_lkas_enabled == 1 and not self.CS.lkas_enabled):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
selfdrive/car/volkswagen/interface.py
+1 -1
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@@ -123,7 +123,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
self.CS.madsEnabled = self.get_acc_mads(ret)
else:
self.CS.madsEnabled = False
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)