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Switch personalities via steering wheel / onroad UI

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Added toggle to switch between the personalities via the steering wheel or an onroad UI button.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-02-27 16:34:47 -07:00
parent 71eecd224c
commit 437ecc73ca
38 changed files with 406 additions and 36 deletions
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19
selfdrive/car/honda/carstate.py
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@@ -268,6 +268,25 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
# Driving personalities function
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
# Change personality upon steering wheel button press
distance_button = self.cruise_setting == 3
if distance_button and not self.distance_previously_pressed:
self.personality_profile = (self.previous_personality_profile + 2) % 3
self.distance_previously_pressed = distance_button
if self.personality_profile != self.previous_personality_profile:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1