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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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28
selfdrive/frogpilot/functions/frogpilot_functions.py
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@@ -5,8 +5,6 @@ from openpilot.common.params import Params
from openpilot.system.hardware import HARDWARE
params_memory = Params("/dev/shm/params")
DEFAULT_MODEL = "los-angeles"
CITY_SPEED_LIMIT = 25
@@ -51,6 +49,7 @@ class MovingAverageCalculator:
class FrogPilotFunctions:
def __init__(self) -> None:
self.params = Params()
self.params_memory = Params("/dev/shm/params")
@staticmethod
def get_min_accel_eco(v_ego):
@@ -82,19 +81,32 @@ class FrogPilotFunctions:
return min(distance_to_lane, distance_to_road_edge)
@staticmethod
@property
def current_personality(self):
return self.params.get_int("LongitudinalPersonality")
def distance_button_function(self, new_personality):
self.params.put_int("LongitudinalPersonality", new_personality)
self.params_memory.put_bool("PersonalityChangedViaWheel", True)
@property
def personality_changed_via_ui(self):
return self.params_memory.get_bool("PersonalityChangedViaUI")
def reset_personality_changed_param(self):
self.params_memory.put_bool("PersonalityChangedViaUI", False)
def update_cestatus_distance(self):
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = params_memory.get_int("CEStatus")
conditional_status = self.params_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 3 if conditional_status >= 7 else 4
params_memory.put_int("CEStatus", override_value)
self.params_memory.put_int("CEStatus", override_value)
@staticmethod
def update_cestatus_lkas(self):
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = params_memory.get_int("CEStatus")
conditional_status = self.params_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4, 5, 6) else 5 if conditional_status >= 7 else 6
params_memory.put_int("CEStatus", override_value)
self.params_memory.put_int("CEStatus", override_value)
def update_experimental_mode(self):
experimental_mode = self.params.get_bool("ExperimentalMode")