From c2c80a0c1abed7791efb7cdac0fc17393fb2fdd5 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Mon, 5 Aug 2024 17:24:06 -0400 Subject: [PATCH] acc mads combo --- selfdrive/car/chrysler/interface.py | 2 +- selfdrive/car/ford/interface.py | 2 +- selfdrive/car/gm/interface.py | 2 +- selfdrive/car/honda/interface.py | 2 +- selfdrive/car/hyundai/interface.py | 2 +- selfdrive/car/interfaces.py | 8 +++++--- selfdrive/car/mazda/interface.py | 2 +- selfdrive/car/nissan/interface.py | 2 +- selfdrive/car/subaru/interface.py | 2 +- selfdrive/car/toyota/interface.py | 2 +- selfdrive/car/volkswagen/interface.py | 2 +- 11 files changed, 15 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 00aea4b557..c331e0e580 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -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) diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index a519e5b20c..d278ded357 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -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 diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index 136457a5b7..8c04a7e5ab 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -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 diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index f9d4636bbd..1ffdcc19a3 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -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 diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 67696df448..214e0f5a3a 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -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 diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 098f81f816..e177baf9ca 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -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 diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index d2317af213..3d6f49430a 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -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 diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py index ce339430cb..e6513b47af 100644 --- a/selfdrive/car/nissan/interface.py +++ b/selfdrive/car/nissan/interface.py @@ -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 diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index 09598cb93a..441c860ba5 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -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 diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9ad5eb2f6c..1f2feb6c2d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -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 diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 386f6dcd4c..6efca50280 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -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)