mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-18 10:32:04 +08:00
Jason Wen
b2cdfc09ae
* init * deprecated * in controlsd directly * update * unused * combine * only once * fix * better * cleanup * more * Update CHANGELOGS.md
97 lines
3.6 KiB
Python
Executable File
97 lines
3.6 KiB
Python
Executable File
#!/usr/bin/env python3
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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
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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GearShifter = car.CarState.GearShifter
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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@staticmethod
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def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "mazda"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.customStockLongAvailable = True
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ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in (CAR.MAZDA_CX5_2022, ):
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ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
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ret.centerToFront = ret.wheelbase * 0.41
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return ret
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# returns a car.CarState
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def _update(self, c):
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ret = self.CS.update(self.cp, self.cp_cam)
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# TODO: add button types for inc and dec
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self.CS.button_events = [
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*self.CS.button_events,
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*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
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*create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
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]
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self.CS.mads_enabled = self.get_sp_cruise_main_state(ret)
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self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, c.vCruise, self.CS.accEnabled)
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if ret.cruiseState.available:
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if self.enable_mads:
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if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
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self.CS.madsEnabled = True
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if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
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self.CS.madsEnabled = not self.CS.madsEnabled
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self.CS.madsEnabled = self.get_acc_mads(ret, self.CS.madsEnabled)
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else:
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self.CS.madsEnabled = False
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if not self.CP.pcmCruise or (self.CP.pcmCruise and self.CP.minEnableSpeed > 0) or not self.CP.pcmCruiseSpeed:
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if any(b.type == ButtonType.cancel for b in self.CS.button_events):
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self.get_sp_cancel_cruise_state()
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if self.get_sp_pedal_disengage(ret):
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self.get_sp_cancel_cruise_state()
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ret.cruiseState.enabled = ret.cruiseState.enabled if not self.enable_mads else False if self.CP.pcmCruise else self.CS.accEnabled
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if self.CP.pcmCruise and self.CP.minEnableSpeed > 0 and self.CP.pcmCruiseSpeed:
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if ret.gasPressed and not ret.cruiseState.enabled:
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self.CS.accEnabled = False
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self.CS.accEnabled = ret.cruiseState.enabled or self.CS.accEnabled
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ret = self.get_sp_common_state(ret)
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ret.buttonEvents = [
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*self.CS.button_events,
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*self.button_events.create_mads_event(self.CS.madsEnabled, self.CS.out.madsEnabled) # MADS BUTTON
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]
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# events
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events = self.create_common_events(ret, c, extra_gears=[GearShifter.sport, GearShifter.low, GearShifter.brake],
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pcm_enable=False)
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events, ret = self.create_sp_events(ret, events)
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#if self.CS.lkas_disabled:
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# events.add(EventName.lkasDisabled)
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if self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.customStockLong = self.update_custom_stock_long()
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ret.events = events.to_msg()
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return ret
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