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Code Issues Packages Projects Releases Wiki Activity

custom stock long

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This commit is contained in:
Jason Wen
2024-08-05 17:44:53 -04:00
parent 7408ea04d4
commit c607d8aa04
6 changed files with 22 additions and 25 deletions
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selfdrive/car/chrysler/interface.py
+1 -3
View File
@@ -161,9 +161,7 @@ class CarInterface(CarInterfaceBase):
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
self.CC.target_speed, self.CC.v_set_dis,
self.CC.speed_diff, self.CC.button_type)
ret.customStockLong = self.update_custom_stock_long()
ret.events = events.to_msg()
selfdrive/car/honda/interface.py
+1 -3
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@@ -329,9 +329,7 @@ class CarInterface(CarInterfaceBase):
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
self.CC.target_speed, self.CC.v_set_dis,
self.CC.speed_diff, self.CC.button_type)
ret.customStockLong = self.update_custom_stock_long()
ret.events = events.to_msg()
selfdrive/car/hyundai/interface.py
+1 -3
View File
@@ -265,9 +265,7 @@ class CarInterface(CarInterfaceBase):
if self.low_speed_alert and self.CS.madsEnabled:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
self.CC.target_speed, self.CC.v_set_dis,
self.CC.speed_diff, self.CC.button_type)
ret.customStockLong = self.update_custom_stock_long()
ret.events = events.to_msg()
selfdrive/car/interfaces.py
+17 -10
View File
@@ -734,6 +734,16 @@ class CarInterfaceBase(ABC):
return events, cs_out
def update_custom_stock_long(self):
customStockLong = car.CarState.CustomStockLong.new_message()
customStockLong.cruiseButton = 0 if self.CC.cruise_button is None else int(self.CC.cruise_button)
customStockLong.finalSpeedKph = float(self.CC.final_speed_kph)
customStockLong.targetSpeed = float(self.CC.target_speed)
customStockLong.vSetDis = float(self.CC.v_set_dis)
customStockLong.speedDiff = float(self.CC.speed_diff)
customStockLong.buttonType = int(self.CC.button_type)
return customStockLong
class RadarInterfaceBase(ABC):
def __init__(self, CP):
self.CP = CP
@@ -837,16 +847,6 @@ class CarStateBase(ABC):
return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
def update_custom_stock_long(self, cruise_button, final_speed_kph, target_speed, v_set_dis, speed_diff, button_type):
customStockLong = car.CarState.CustomStockLong.new_message()
customStockLong.cruiseButton = 0 if cruise_button is None else cruise_button
customStockLong.finalSpeedKph = final_speed_kph
customStockLong.targetSpeed = target_speed
customStockLong.vSetDis = v_set_dis
customStockLong.speedDiff = speed_diff
customStockLong.buttonType = button_type
return customStockLong
@staticmethod
def parse_gear_shifter(gear: str | None) -> car.CarState.GearShifter:
if gear is None:
@@ -879,6 +879,13 @@ class CarControllerBase(ABC):
self.CP = CP
self.frame = 0
self.cruise_button = 0
self.final_speed_kph = 0.0
self.target_speed = 0.0
self.v_set_dis = 0.0
self.speed_diff = 0.0
self.button_type = 0
@abstractmethod
def update(self, CC: car.CarControl.Actuators, CS: car.CarState, now_nanos: int) -> tuple[car.CarControl.Actuators, list[SendCan]]:
pass
selfdrive/car/mazda/interface.py
+1 -3
View File
@@ -89,9 +89,7 @@ class CarInterface(CarInterfaceBase):
if self.CS.low_speed_alert:
events.add(EventName.belowSteerSpeed)
ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
self.CC.target_speed, self.CC.v_set_dis,
self.CC.speed_diff, self.CC.button_type)
ret.customStockLong = self.update_custom_stock_long()
ret.events = events.to_msg()
selfdrive/car/volkswagen/interface.py
+1 -3
View File
@@ -171,9 +171,7 @@ class CarInterface(CarInterfaceBase):
if self.CC.eps_timer_soft_disable_alert:
events.add(EventName.steerTimeLimit)
ret.customStockLong = self.CS.update_custom_stock_long(self.CC.cruise_button, self.CC.final_speed_kph,
self.CC.target_speed, self.CC.v_set_dis,
self.CC.speed_diff, self.CC.button_type)
ret.customStockLong = self.update_custom_stock_long()
ret.events = events.to_msg()