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Merge branch 'mads-button-event-modern' into master-dev-c3

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# Conflicts:
#	selfdrive/car/ford/carstate.py
#	selfdrive/car/ford/interface.py
#	selfdrive/car/ford/values.py
#	selfdrive/car/gm/interface.py
This commit is contained in:
Jason Wen
2024-07-11 23:54:03 -04:00
parent 6b431bde57 11567ed7dc
commit c69d886c20
27 changed files with 166 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/chrysler/carcontroller.py
+8 -4
View File
@@ -1,3 +1,5 @@
from cereal import car
import cereal.messaging as messaging
from common.conversions import Conversions as CV
from opendbc.can.packer import CANPacker
@@ -9,7 +11,7 @@ from openpilot.selfdrive.car.chrysler.values import RAM_CARS, RAM_DT, CarControl
from openpilot.selfdrive.car.interfaces import CarControllerBase, FORWARD_GEARS
from openpilot.selfdrive.controls.lib.drive_helpers import FCA_V_CRUISE_MIN
BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
ButtonType = car.CarState.ButtonEvent.Type
class CarController(CarControllerBase):
@@ -104,7 +106,7 @@ class CarController(CarControllerBase):
self.last_button_frame = CS.button_counter
if ram_cars:
if CS.buttonStates["cancel"]:
if any(b.type == ButtonType.cancel for b in CS.out.buttonEvents):
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP, cancel=True))
else:
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter, das_bus, self.CP,
@@ -189,8 +191,10 @@ class CarController(CarControllerBase):
# multikyd methods, sunnyhaibin logic
def get_cruise_buttons_status(self, CS):
if not CS.out.cruiseState.enabled or any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
self.timer = 40
if not CS.out.cruiseState.enabled:
for be in CS.out.buttonEvents:
if be.type in (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) and be.pressed:
self.timer = 40
elif self.timer:
self.timer -= 1
else:
selfdrive/car/chrysler/carstate.py
+14 -9
View File
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTON_STATES
from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS, BUTTONS
class CarState(CarStateBase):
@@ -29,8 +29,7 @@ class CarState(CarStateBase):
self.lkas_heartbit = None
self.lkas_disabled = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
@@ -41,7 +40,6 @@ class CarState(CarStateBase):
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# lock info
ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
@@ -76,6 +74,18 @@ class CarState(CarStateBase):
unit=1,
)
# Buttons
button_events = []
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
button_events.append(event)
self.button_states[button.event_type] = state
self.button_events = button_events
# button presses
ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(200, cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1,
cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2)
@@ -116,11 +126,6 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
self.buttonStates["accelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Accel"])
self.buttonStates["decelCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Decel"])
self.buttonStates["cancel"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Cancel"])
self.buttonStates["resumeCruise"] = bool(cp.vl["CRUISE_BUTTONS"]["ACC_Resume"])
self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
self.cruise_buttons = cp.vl["CRUISE_BUTTONS"]
selfdrive/car/chrysler/interface.py
+10 -17
View File
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP, BUTTON_STATES
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags, ChryslerFlagsSP
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -13,7 +13,6 @@ GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -94,19 +93,15 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise,
self.CS.button_events, c.vCruise,
enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.resumeCruise) if not self.CP.pcmCruiseSpeed else
(ButtonType.accelCruise, ButtonType.decelCruise),
resume_button=(ButtonType.resumeCruise,) if not self.CP.pcmCruiseSpeed else
@@ -125,7 +120,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
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 buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -146,14 +141,14 @@ class CarInterface(CarInterfaceBase):
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# events
events = self.create_common_events(ret, c, extra_gears=[car.CarState.GearShifter.low], pcm_enable=False)
@@ -180,6 +175,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/chrysler/values.py
+8 -6
View File
@@ -1,3 +1,4 @@
from collections import namedtuple
from enum import IntFlag
from dataclasses import dataclass, field
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class ChryslerFlags(IntFlag):
@@ -113,12 +115,12 @@ class CarControllerParams:
self.STEER_MAX = 261 # higher than this faults the EPS
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"resumeCruise": False,
}
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "CRUISE_BUTTONS", "ACC_Accel", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "CRUISE_BUTTONS", "ACC_Decel", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "CRUISE_BUTTONS", "ACC_Cancel", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRUISE_BUTTONS", "ACC_Resume", [1]),
]
STEER_THRESHOLD = 120
selfdrive/car/ford/carstate.py
+15 -11
View File
@@ -3,7 +3,7 @@ from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTON_STATES
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags, BUTTONS
from openpilot.selfdrive.car.interfaces import CarStateBase
GearShifter = car.CarState.GearShifter
@@ -24,16 +24,15 @@ class CarState(CarStateBase):
self.lkas_enabled = None
self.prev_lkas_enabled = None
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.v_limit = 0
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving
@@ -92,6 +91,18 @@ class CarState(CarStateBase):
else:
ret.gearShifter = GearShifter.drive
# Buttons
button_events = []
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
button_events.append(event)
self.button_states[button.event_type] = state
self.button_events = button_events
# safety
ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
@@ -117,13 +128,6 @@ class CarState(CarStateBase):
self.lkas_enabled = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"])
self.buttonStates["accelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetIncPress"])
self.buttonStates["decelCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetDecPress"])
self.buttonStates["cancel"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnCnclPress"])
self.buttonStates["setCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAslButtnSetPress"])
self.buttonStates["resumeCruise"] = bool(cp.vl["Steering_Data_FD1"]["CcAsllButtnResPress"])
self.buttonStates["gapAdjustCruise"] = bool(cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"])
# Stock steering buttons so that we can passthru blinkers etc.
self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
# Stock values from IPMA so that we can retain some stock functionality
selfdrive/car/ford/interface.py
+10 -19
View File
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.common.params import Params
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, BUTTON_STATES, FordFlagsSP
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags, FordFlagsSP
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
@@ -16,8 +16,6 @@ class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "ford"
@@ -86,19 +84,15 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -111,7 +105,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0):
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -126,14 +120,14 @@ class CarInterface(CarInterfaceBase):
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.manumatic], pcm_enable=False)
@@ -144,7 +138,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
# update previous car states
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/ford/values.py
+11 -10
View File
@@ -1,5 +1,6 @@
import copy
import re
from collections import namedtuple
from dataclasses import dataclass, field, replace
from enum import Enum, IntFlag
@@ -11,6 +12,7 @@ from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, Ca
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
class CarControllerParams:
@@ -50,16 +52,6 @@ class FordFlagsSP(IntFlag):
SP_ENHANCED_LAT_CONTROL = 1
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
class RADAR:
DELPHI_ESR = 'ford_fusion_2018_adas'
DELPHI_MRR = 'FORD_CADS'
@@ -159,6 +151,15 @@ class CAR(Platforms):
)
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "Steering_Data_FD1", "CcAslButtnSetIncPress", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "Steering_Data_FD1", "CcAslButtnSetDecPress", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "Steering_Data_FD1", "CcAslButtnCnclPress", [1]),
Button(car.CarState.ButtonEvent.Type.setCruise, "Steering_Data_FD1", "CcAslButtnSetPress", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "Steering_Data_FD1", "CcAsllButtnResPress", [1]),
]
# FW response contains a combined software and part number
# A-Z except no I, O or W
# e.g. NZ6A-14C204-AAA
selfdrive/car/gm/carstate.py
+1
View File
@@ -33,6 +33,7 @@ class CarState(CarStateBase):
self.prev_lkas_enabled = False
def update(self, pt_cp, cam_cp, loopback_cp):
self.button_events = []
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
selfdrive/car/gm/interface.py
+7 -8
View File
@@ -207,12 +207,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_loopback)
self.sp_update_params()
buttonEvents = []
distance_button = 0
# Don't add event if transitioning from INIT, unless it's to an actual button
if self.CS.cruise_buttons != CruiseButtons.UNPRESS or self.CS.prev_cruise_buttons != CruiseButtons.INIT:
buttonEvents = [
self.CS.button_events = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT,
unpressed_btn=CruiseButtons.UNPRESS),
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button,
@@ -223,11 +222,11 @@ class CarInterface(CarInterfaceBase):
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
if not self.CP.pcmCruise:
if any(b.type == ButtonType.accelCruise and b.pressed for b in buttonEvents):
if any(b.type == ButtonType.accelCruise and b.pressed for b in self.CS.button_events):
self.CS.accEnabled = True
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -240,7 +239,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
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 buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -256,14 +255,14 @@ class CarInterface(CarInterfaceBase):
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# The ECM allows enabling on falling edge of set, but only rising edge of resume
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low,
selfdrive/car/honda/carstate.py
+1
View File
@@ -111,6 +111,7 @@ class CarState(CarStateBase):
self.dash_speed_seen = False
def update(self, cp, cp_cam, cp_body):
self.button_events = []
ret = car.CarState.new_message()
# car params
selfdrive/car/honda/interface.py
+4 -4
View File
@@ -268,7 +268,7 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
self.sp_update_params()
buttonEvents = [
self.CS.button_events = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.cruise_setting, self.CS.prev_cruise_setting, SETTINGS_BUTTONS_DICT),
]
@@ -276,7 +276,7 @@ class CarInterface(CarInterfaceBase):
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -289,7 +289,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
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 buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -304,7 +304,7 @@ class CarInterface(CarInterfaceBase):
min_enable_speed_pcm=(self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed),
gap_button=(self.CS.cruise_setting == 3))
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
selfdrive/car/hyundai/carstate.py
+1
View File
@@ -63,6 +63,7 @@ class CarState(CarStateBase):
self._speed_limit_clu = 0
def update(self, cp, cp_cam):
self.button_events = []
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
selfdrive/car/hyundai/interface.py
+6 -6
View File
@@ -210,10 +210,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
self.CS.mads_enabled = False if not self.mads_main_toggle else self.CS.mads_enabled
@@ -236,7 +236,7 @@ class CarInterface(CarInterfaceBase):
if not self.CP.pcmCruise or not self.CP.pcmCruiseSpeed:
if not self.CP.pcmCruise:
if any(b.type == ButtonType.cancel for b in buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if not self.CP.pcmCruiseSpeed:
if not ret.cruiseState.enabled:
@@ -250,14 +250,14 @@ class CarInterface(CarInterfaceBase):
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
selfdrive/car/interfaces.py
+3
View File
@@ -1,3 +1,4 @@
import capnp
import json
import os
import numpy as np
@@ -780,6 +781,8 @@ class CarStateBase(ABC):
self.prev_mads_enabled = False
self.control_initialized = False
self.button_events: list[capnp.lib.capnp._DynamicStructBuilder] = []
Q = [[0.0, 0.0], [0.0, 100.0]]
R = 0.3
A = [[1.0, DT_CTRL], [0.0, 1.0]]
selfdrive/car/mazda/carcontroller.py
+5 -4
View File
@@ -11,8 +11,7 @@ from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
from openpilot.selfdrive.controls.lib.drive_helpers import MAZDA_V_CRUISE_MIN
VisualAlert = car.CarControl.HUDControl.VisualAlert
BUTTONS_STATES = ["accelCruise", "decelCruise", "cancel", "resumeCruise"]
ButtonType = car.CarState.ButtonEvent.Type
class CarController(CarControllerBase):
@@ -141,8 +140,10 @@ class CarController(CarControllerBase):
# multikyd methods, sunnyhaibin logic
def get_cruise_buttons_status(self, CS):
if not CS.out.cruiseState.enabled:
if any(CS.buttonStates[button_state] for button_state in BUTTONS_STATES):
self.timer = 40
for be in CS.out.buttonEvents:
if be.type in (ButtonType.accelCruise, ButtonType.resumeCruise,
ButtonType.decelCruise, ButtonType.setCruise) and be.pressed:
self.timer = 40
elif self.timer:
self.timer -= 1
else:
selfdrive/car/mazda/carstate.py
+14 -9
View File
@@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTON_STATES
from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags, BUTTONS
class CarState(CarStateBase):
def __init__(self, CP):
@@ -24,8 +24,7 @@ class CarState(CarStateBase):
self.lkas_enabled = False
self.prev_lkas_enabled = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
self.button_states = {button.event_type: False for button in BUTTONS}
def update(self, cp, cp_cam):
@@ -36,7 +35,6 @@ class CarState(CarStateBase):
self.prev_mads_enabled = self.mads_enabled
self.prev_lkas_enabled = self.lkas_enabled
self.buttonStatesPrev = self.buttonStates.copy()
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["FL"],
@@ -56,6 +54,18 @@ class CarState(CarStateBase):
can_gear = int(cp.vl["GEAR"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
# Buttons
button_events = []
for button in BUTTONS:
state = (cp.vl[button.can_addr][button.can_msg] in button.values)
if self.button_states[button.event_type] != state:
event = car.CarState.ButtonEvent.new_message()
event.type = button.event_type
event.pressed = state
button_events.append(event)
self.button_states[button.event_type] = state
self.button_events = button_events
ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
@@ -114,11 +124,6 @@ class CarState(CarStateBase):
self.acc_active_last = ret.cruiseState.enabled
self.buttonStates["accelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_P"])
self.buttonStates["decelCruise"] = bool(cp.vl["CRZ_BTNS"]["SET_M"])
self.buttonStates["cancel"] = bool(cp.vl["CRZ_BTNS"]["CAN_OFF"])
self.buttonStates["resumeCruise"] = bool(cp.vl["CRZ_BTNS"]["RES"])
self.crz_btns_counter = cp.vl["CRZ_BTNS"]["CTR"]
# camera signals
selfdrive/car/mazda/interface.py
+10 -17
View File
@@ -1,7 +1,7 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS, BUTTON_STATES
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car import create_button_events, get_safety_config, create_mads_event
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@@ -12,7 +12,6 @@ GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
@@ -41,19 +40,15 @@ class CarInterface(CarInterfaceBase):
self.sp_update_params()
# TODO: add button types for inc and dec
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise)
self.CS.button_events, c.vCruise)
if ret.cruiseState.available:
if self.enable_mads:
@@ -66,7 +61,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = False
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 buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -82,14 +77,14 @@ class CarInterface(CarInterfaceBase):
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
@@ -108,6 +103,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/mazda/values.py
+10 -8
View File
@@ -1,3 +1,4 @@
from collections import namedtuple
from dataclasses import dataclass, field
from enum import IntFlag
@@ -8,6 +9,7 @@ from openpilot.selfdrive.car.docs_definitions import CarHarness, CarDocs, CarPar
from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
Ecu = car.CarParams.Ecu
Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
# Steer torque limits
@@ -26,14 +28,6 @@ class CarControllerParams:
pass
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"resumeCruise": False,
}
@dataclass
class MazdaCarDocs(CarDocs):
package: str = "All"
@@ -98,6 +92,14 @@ class Buttons:
CANCEL = 4
BUTTONS = [
Button(car.CarState.ButtonEvent.Type.accelCruise, "CRZ_BTNS", "SET_P", [1]),
Button(car.CarState.ButtonEvent.Type.decelCruise, "CRZ_BTNS", "SET_M", [1]),
Button(car.CarState.ButtonEvent.Type.cancel, "CRZ_BTNS", "CAN_OFF", [1]),
Button(car.CarState.ButtonEvent.Type.resumeCruise, "CRZ_BTNS", "RES", [1]),
]
FW_QUERY_CONFIG = FwQueryConfig(
requests=[
# TODO: check data to ensure ABS does not skip ISO-TP frames on bus 0
selfdrive/car/nissan/carstate.py
+1
View File
@@ -24,6 +24,7 @@ class CarState(CarStateBase):
self.distance_button = 0
def update(self, cp, cp_adas, cp_cam):
self.button_events = []
ret = car.CarState.new_message()
self.prev_distance_button = self.distance_button
selfdrive/car/nissan/interface.py
+5 -5
View File
@@ -34,7 +34,7 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_adas, self.cp_cam)
self.sp_update_params()
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -58,19 +58,19 @@ class CarInterface(CarInterfaceBase):
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
self.CS.button_events.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
pcm_enable=False)
selfdrive/car/subaru/carstate.py
+1
View File
@@ -20,6 +20,7 @@ class CarState(CarStateBase):
self.prev_lkas_enabled = None
def update(self, cp, cp_cam, cp_body):
self.button_events = []
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
selfdrive/car/subaru/interface.py
+4 -6
View File
@@ -118,8 +118,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
self.sp_update_params()
buttonEvents = []
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
if ret.cruiseState.available:
@@ -150,19 +148,19 @@ class CarInterface(CarInterfaceBase):
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
self.CS.button_events.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low], pcm_enable=False)
selfdrive/car/toyota/carstate.py
+1
View File
@@ -85,6 +85,7 @@ class CarState(CarStateBase):
self.frame = 0
def update(self, cp, cp_cam):
self.button_events = []
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
selfdrive/car/toyota/interface.py
+5 -6
View File
@@ -212,11 +212,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
buttonEvents = []
distance_button = 0
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER):
buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
self.CS.button_events = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
distance_button = self.CS.distance_button
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@@ -250,19 +249,19 @@ class CarInterface(CarInterfaceBase):
be = car.CarState.ButtonEvent.new_message()
be.pressed = True
be.type = ButtonType.cancel
buttonEvents.append(be)
self.CS.button_events.append(be)
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
# events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
selfdrive/car/volkswagen/carstate.py
+3 -23
View File
@@ -4,7 +4,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
CarControllerParams, VolkswagenFlags, BUTTON_STATES, VolkswagenFlagsSP
CarControllerParams, VolkswagenFlags, VolkswagenFlagsSP
class CarState(CarStateBase):
@@ -17,8 +17,6 @@ class CarState(CarStateBase):
self.esp_hold_confirmation = False
self.upscale_lead_car_signal = False
self.eps_stock_values = False
self.buttonStates = BUTTON_STATES.copy()
self.buttonStatesPrev = BUTTON_STATES.copy()
def create_button_events(self, pt_cp, buttons):
button_events = []
@@ -41,7 +39,6 @@ class CarState(CarStateBase):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -150,18 +147,10 @@ class CarState(CarStateBase):
if ret.cruiseState.speed > 90:
ret.cruiseState.speed = 0
# Update control button states for turn signals and ACC controls.
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker = ret.leftBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
ret.rightBlinker = ret.rightBlinkerOn = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
# Additional safety checks performed in CarInterface.
@@ -177,7 +166,6 @@ class CarState(CarStateBase):
ret = car.CarState.new_message()
self.prev_mads_enabled = self.mads_enabled
self.buttonStatesPrev = self.buttonStates.copy()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
@@ -265,18 +253,10 @@ class CarState(CarStateBase):
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
# Update control button states for turn signals and ACC controls.
self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Up_kurz"])
self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Down_kurz"])
self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Abbrechen"])
self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Neu_Setzen"])
self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Recall"])
self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_Neu"]["GRA_Zeitluecke"])
# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
ret.leftBlinker, ret.rightBlinker = ret.leftBlinkerOn, ret.rightBlinkerOn = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.button_events = self.create_button_events(pt_cp, self.CCP.BUTTONS)
self.gra_stock_values = pt_cp.vl["GRA_Neu"]
# Additional safety checks performed in CarInterface.
selfdrive/car/volkswagen/interface.py
+8 -24
View File
@@ -4,7 +4,7 @@ from openpilot.common.params import Params
from openpilot.selfdrive.car import get_safety_config, create_mads_event
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags, \
BUTTON_STATES, VolkswagenFlagsSP
VolkswagenFlagsSP
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@@ -21,8 +21,6 @@ class CarInterface(CarInterfaceBase):
self.ext_bus = CANBUS.cam
self.cp_ext = self.cp_cam
self.buttonStatesPrev = BUTTON_STATES.copy()
@staticmethod
def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
@@ -117,21 +115,10 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
self.sp_update_params()
buttonEvents = []
# Check for and process state-change events (button press or release) from
# the turn stalk switch or ACC steering wheel/control stalk buttons.
for button in self.CS.buttonStates:
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
be = car.CarState.ButtonEvent.new_message()
be.type = button
be.pressed = self.CS.buttonStates[button]
buttonEvents.append(be)
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
buttonEvents, c.vCruise,
self.CS.button_events, c.vCruise,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
if ret.cruiseState.available:
@@ -144,7 +131,7 @@ class CarInterface(CarInterfaceBase):
self.CS.madsEnabled = self.get_sp_started_mads(ret, self.CS)
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 buttonEvents):
if any(b.type == ButtonType.cancel for b in self.CS.button_events):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
if self.get_sp_pedal_disengage(ret):
self.CS.madsEnabled, self.CS.accEnabled = self.get_sp_cancel_cruise_state(self.CS.madsEnabled)
@@ -155,19 +142,20 @@ class CarInterface(CarInterfaceBase):
self.CS.accEnabled = False
self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
ret, self.CS = self.get_sp_common_state(ret, self.CS, gap_button=bool(self.CS.buttonStates["gapAdjustCruise"]))
ret, self.CS = self.get_sp_common_state(ret, self.CS,
gap_button=any(b.type == ButtonType.gapAdjustCruise and b.pressed for b in self.CS.button_events))
# MADS BUTTON
if self.CS.out.madsEnabled != self.CS.madsEnabled:
if self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = False
else:
if not self.mads_event_lock:
buttonEvents.append(create_mads_event(self.mads_event_lock))
self.CS.button_events.append(create_mads_event(self.mads_event_lock))
self.mads_event_lock = True
ret.buttonEvents = buttonEvents
ret.buttonEvents = self.CS.button_events
events = self.create_common_events(ret, c, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=False,
@@ -199,8 +187,4 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
# update previous car states
self.buttonStatesPrev = self.CS.buttonStates.copy()
return ret
selfdrive/car/volkswagen/values.py
-10
View File
@@ -147,16 +147,6 @@ class VolkswagenFlagsSP(IntFlag):
SP_CC_ONLY_NO_RADAR = 2
BUTTON_STATES = {
"accelCruise": False,
"decelCruise": False,
"cancel": False,
"setCruise": False,
"resumeCruise": False,
"gapAdjustCruise": False
}
@dataclass
class VolkswagenMQBPlatformConfig(PlatformConfig):
dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_mqb_2010', None))