brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-05-12 21:56:49 -05:00
parent b4120aed2e
commit d228405bc8
4 changed files with 14 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
selfdrive/car/hyundai/carcontroller.py
View File

@@ -213,6 +213,7 @@ class CarController(CarControllerBase):
elif CC.cruiseControl.resume: elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars # TODO: resume for alt button cars
print (CS.cruise_can_msg)
CS.lkas_trigger_result = 3 CS.lkas_trigger_result = 3
pass pass
else: else:

2
selfdrive/car/hyundai/carstate.py
View File

@@ -273,6 +273,8 @@ class CarState(CarStateBase):
if self.CP.flags & HyundaiFlags.EV: if self.CP.flags & HyundaiFlags.EV:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
self.cruise_can_msg = copy.copy(cp.vl_all[self.cruise_btns_msg_canfd])
self.prev_cruise_buttons = self.cruise_buttons[-1] self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.prev_main_buttons = self.main_buttons[-1] self.prev_main_buttons = self.main_buttons[-1]

11
selfdrive/car/hyundai/interface.py
View File

@@ -161,11 +161,12 @@ class CarInterface(CarInterfaceBase):
def _update(self, c, frogpilot_variables): def _update(self, c, frogpilot_variables):
ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables) ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
if self.CS.CP.openpilotLongitudinalControl: # todo: this check probably needs to be removed on other cars
ret.buttonEvents = [ # if self.CS.CP.openpilotLongitudinalControl:
*create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT), ret.buttonEvents = [
*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}), *create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
] *create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
]
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons

14
selfdrive/controls/controlsd.py
View File

@@ -245,7 +245,7 @@ class Controls:
# Compute actuators (runs PID loops and lateral MPC) # Compute actuators (runs PID loops and lateral MPC)
CC, lac_log = self.state_control(CS) CC, lac_log = self.state_control(CS)
CC = self.clearpilot_state_control(CC, CS) CC = self.clearpilot_state_control(CC, CS)
# Publish data # Publish data
self.publish_logs(CS, start_time, CC, lac_log) self.publish_logs(CS, start_time, CC, lac_log)
@@ -302,7 +302,7 @@ class Controls:
self.mismatch_counter += 1 self.mismatch_counter += 1
return CS return CS
def update_events(self, CS): def update_events(self, CS):
"""Compute onroadEvents from carState""" """Compute onroadEvents from carState"""
@@ -393,7 +393,7 @@ class Controls:
# CLEARPILOT TODO: Make this a toggle # CLEARPILOT TODO: Make this a toggle
# Clearpilot abstract this into a behavior # Clearpilot abstract this into a behavior
NoLaneChange = False NoLaneChange = False
if not NoLaneChange: if not NoLaneChange:
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['modelV2'].meta.laneChangeDirection direction = self.sm['modelV2'].meta.laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
@@ -1233,15 +1233,11 @@ class Controls:
if (len(CS.buttonEvents) > 0): if (len(CS.buttonEvents) > 0):
print (CS.buttonEvents) print (CS.buttonEvents)
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents): if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
exit() # Just cause a crash for testing
self.events.add(EventName.clpDebug) self.events.add(EventName.clpDebug)
# clearpilot_notice(CP_NOTICE_DEBUG, "LKAS Debug Action Invoked")
foo = "bar"
def clearpilot_state_control(self, CC, CS): def clearpilot_state_control(self, CC, CS):
foo = "bar" if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents):
CC.cruiseControl.resume = True
return CC return CC
def main(): def main():