brianhansonxyz/oscarpilot
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This commit is contained in:
FrogAi
2024-01-15 06:17:49 -07:00
parent deb2b8d247
commit 458b51c60b
43 changed files with 376 additions and 156 deletions
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18
selfdrive/car/gm/carstate.py
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@@ -44,8 +44,12 @@ class CarState(CarStateBase):
self.moving_backward = (pt_cp.vl["EBCMWheelSpdRear"]["MovingBackward"] != 0) and not moving_forward
if self.CP.enableBsm:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
if self.CP.carFingerprint in SDGM_CAR:
ret.leftBlindspot = cam_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBSM"]["Right_BSM"] == 1
else:
ret.leftBlindspot = pt_cp.vl["BCMBSM"]["Left_BSM"] == 1
ret.rightBlindspot = pt_cp.vl["BCMBSM"]["Right_BSM"] == 1
# Variables used for avoiding LKAS faults
self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
@@ -195,7 +199,7 @@ class CarState(CarStateBase):
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.experimental_mode_via_lkas and ret.cruiseState.available:
if self.CP.carFingerprint in SDGM_CAR:
lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
@@ -228,6 +232,8 @@ class CarState(CarStateBase):
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBSM", 10))
else:
messages += [
("AEBCmd", 10),
@@ -251,10 +257,6 @@ class CarState(CarStateBase):
("ECMAcceleratorPos", 80),
]
# BSM does not send a signal until the first instance of it lighting up
messages.append(("left_blindspot", 0))
messages.append(("right_blindspot", 0))
if CP.carFingerprint in SDGM_CAR:
messages += [
("ECMPRDNL2", 40),
@@ -271,6 +273,8 @@ class CarState(CarStateBase):
("BCMGeneralPlatformStatus", 10),
("ASCMSteeringButton", 33),
]
if CP.enableBsm:
messages.append(("BCMBSM", 10))
# Used to read back last counter sent to PT by camera
if CP.networkLocation == NetworkLocation.fwdCamera: