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Experimental Mode activation via steering wheel / onroad UI

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Added toggle to enable or disable Experimental Mode from the steering wheel or onroad UI.
This commit is contained in:
FrogAi
2024-03-06 18:30:45 -07:00
parent b1e7bb101e
commit af04cd6c65
18 changed files with 207 additions and 14 deletions
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19
selfdrive/frogpilot/functions/frogpilot_functions.py
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@@ -80,6 +80,25 @@ class FrogPilotFunctions:
return min(distance_to_lane, distance_to_road_edge)
@staticmethod
def update_cestatus_distance(self):
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = 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)
@staticmethod
def update_cestatus_lkas(self):
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = 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)
def update_experimental_mode(self):
experimental_mode = self.params.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
self.params.put_bool("ExperimentalMode", not experimental_mode)
@staticmethod
def road_curvature(modelData, v_ego):
predicted_velocities = np.array(modelData.velocity.x)