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Green light alert

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Added toggle to alert the user when a red light turns to green.
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FrogAi
2024-02-27 16:34:47 -07:00
parent 1d3a40aa7e
commit f2cd6e256a
9 changed files with 40 additions and 2 deletions
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9
selfdrive/frogpilot/functions/frogpilot_planner.py
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@@ -53,7 +53,7 @@ class FrogPilotPlanner:
self.accel_limits = [min_accel, max_accel]
# Update Conditional Experimental Mode
if self.conditional_experimental_mode and self.CP.openpilotLongitudinalControl:
if self.conditional_experimental_mode and self.CP.openpilotLongitudinalControl or self.green_light_alert and carState.standstill:
self.cem.update(carState, enabled, sm['frogpilotNavigation'], modelData, sm['radarState'], self.road_curvature, self.stop_distance, mpc.t_follow, v_ego)
# Update the current lane widths
@@ -102,6 +102,8 @@ class FrogPilotPlanner:
frogpilotPlan.laneWidthLeft = self.lane_width_left
frogpilotPlan.laneWidthRight = self.lane_width_right
frogpilotPlan.redLight = self.cem.red_light_detected
pm.send('frogpilotPlan', frogpilot_plan_send)
def update_frogpilot_params(self, params):
@@ -112,6 +114,11 @@ class FrogPilotPlanner:
self.cem.update_frogpilot_params(self.is_metric, params)
params.put_bool("ExperimentalMode", True)
custom_alerts = params.get_bool("CustomAlerts")
self.green_light_alert = custom_alerts and params.get_bool("GreenLightAlert")
if self.green_light_alert and not self.conditional_experimental_mode:
self.cem.update_frogpilot_params(self.is_metric, params)
self.custom_personalities = params.get_bool("CustomPersonalities")
self.aggressive_follow = params.get_float("AggressiveFollow")
self.standard_follow = params.get_float("StandardFollow")