brianhansonxyz/clearpilot
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2024-07-05 16:21:43 -05:00
parent a47fbb140d
commit ac4d7efff1
4 changed files with 51 additions and 7 deletions
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20
selfdrive/controls/controlsd.py
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@@ -77,6 +77,7 @@ class Controls:
self.params_storage = Params("/persist/params")
self.params_memory.put_bool("CPTLkasButtonAction", False)
self.params_memory.put_bool("ScreenDisaplayMode", 0)
self.radarless_model = self.params.get("Model", encoding='utf-8') in RADARLESS_MODELS
@@ -1239,16 +1240,21 @@ class Controls:
def clearpilot_state_control(self, CC, CS):
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
self.params_memory.put_bool("CPTLkasButtonAction", True)
# if self.params_memory.get_bool("CPTLkasButtonAction"):
# self.params_memory.put_bool("CPTLkasButtonAction", False)
# self.params_memory.put_bool("CPTLkasButtonAction", False)
# else:
# self.params_memory.put_bool("CPTLkasButtonAction", True)
# CS.lkas_enabled = self.params_memory.get_bool("CPTLkasButtonAction")
# self.params_memory.put_bool("CPTLkasButtonAction", True)
# Rotate display mode. These are mostly used in the frontend ui app.
max_display_mode = 1
current_display_mode = self.params_memory.get_int("ScreenDisaplayMode")
current_display_mode = current_display_mode + 1
if current_display_mode > max_display_mode:
current_display_mode = 0
self.params_memory.put_int("ScreenDisaplayMode", current_display_mode)
# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
# CC.actuators.speed
# print ("Alive")
# self.params_memory.put_int("SpeedLimitLatDesired", CC.actuators.speed * CV.MS_TO_MPH )
return CC
def main():