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FrogPilot Setup

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This commit is contained in:
FrogAi
2024-03-01 09:26:59 -07:00
parent 505ad1fbfe
commit 6c946fc97a
106 changed files with 2349 additions and 185 deletions
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12
selfdrive/car/honda/interface.py
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@@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "honda"
if candidate in HONDA_BOSCH:
@@ -310,8 +310,8 @@ class CarInterface(CarInterfaceBase):
disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03')
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body, frogpilot_variables)
ret.buttonEvents = [
*create_button_events(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT),
@@ -319,7 +319,7 @@ class CarInterface(CarInterfaceBase):
]
# events
events = self.create_common_events(ret, pcm_enable=False)
events = self.create_common_events(ret, frogpilot_variables, pcm_enable=False)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
@@ -344,5 +344,5 @@ class CarInterface(CarInterfaceBase):
# pass in a car.CarControl
# to be called @ 100hz
def apply(self, c, now_nanos):
return self.CC.update(c, self.CS, now_nanos)
def apply(self, c, now_nanos, frogpilot_variables):
return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)