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

wip

Browse Source
This commit is contained in:
concordia
2024-02-12 18:11:57 -06:00
parent 9e67df39d3
commit a380603637
4 changed files with 10 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

1
common/params.cc
View File

@@ -331,6 +331,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"ReverseCruise", PERSISTENT}, {"ReverseCruise", PERSISTENT},
{"RoadEdgesWidth", PERSISTENT}, {"RoadEdgesWidth", PERSISTENT},
{"RoadName", PERSISTENT}, {"RoadName", PERSISTENT},
{"oscar_debug", PERSISTENT},
{"RoadNameUI", PERSISTENT}, {"RoadNameUI", PERSISTENT},
{"RotatingWheel", PERSISTENT}, {"RotatingWheel", PERSISTENT},
{"SchedulePending", PERSISTENT}, {"SchedulePending", PERSISTENT},

7
selfdrive/car/hyundai/carcontroller.py
View File

@@ -60,6 +60,7 @@ class CarController:
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0 self.last_button_frame = 0
self.last_resume_frame = 0 self.last_resume_frame = 0
self.last_debug_frame = 0
def update(self, CC, CS, now_nanos, sport_plus): def update(self, CC, CS, now_nanos, sport_plus):
actuators = CC.actuators actuators = CC.actuators
@@ -234,11 +235,13 @@ class CarController:
self.last_button_frame = self.frame self.last_button_frame = self.frame
else: else:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# if (self.frame - self.last_button_frame) * DT_CTRL > 3:
# if self.last_resume_frame = self.frame
if CS.oscar_lane_center_btn_pressed: if CS.oscar_lane_center_btn_pressed:
CS.oscar_lane_center_btn_pressed = False CS.oscar_lane_center_btn_pressed = False
# CC.cruiseControl.resume = True # CC.cruiseControl.resume = True
# CC.cruiseControl.cancel = True CC.cruiseControl.cancel = True
# Test this... # Test this...
# Also try create_acc_commands # Also try create_acc_commands
# This attempts to set the speed to # This attempts to set the speed to

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

@@ -173,6 +173,8 @@ class CarState(CarStateBase):
self.oscar_slc_decel = False self.oscar_slc_decel = False
self.oscar_slc_accel = False self.oscar_slc_accel = False
self.param_memory.put("oscar_debug", "Hello World")
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0: # if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.oscar_lane_center_btn_pressed= True # self.oscar_lane_center_btn_pressed= True

3
selfdrive/ui/qt/onroad.cc
View File

@@ -1592,7 +1592,8 @@ void AnnotatedCameraWidget::drawStatusBar(QPainter &p) {
p.setOpacity(1.0); p.setOpacity(1.0);
p.drawRoundedRect(statusBarRect, 30, 30); p.drawRoundedRect(statusBarRect, 30, 30);
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString(); // QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("RoadName")) : QString();
QString roadName = roadNameUI ? QString::fromStdString(paramsMemory.get("oscar_debug")) : QString();
QMap<int, QString> conditionalStatusMap = { QMap<int, QString> conditionalStatusMap = {
{0, "Conditional Experimental Mode ready"}, {0, "Conditional Experimental Mode ready"},