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

Experimental Mode via steering wheel / onroad UI

Browse Source 
Added toggle to enable or disable Experimental Mode from the steering wheel for Toyota/Lexus vehicles and the onroad UI for other makes.
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent e29204d23a
commit b72f5748c4
12 changed files with 141 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
selfdrive/car/gm/carstate.py
View File

@@ -144,6 +144,24 @@ class CarState(CarStateBase):
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
if self.CP.carFingerprint in SDGM_CAR:
lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
lkas_pressed = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value)
else:
experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
put_bool_nonblocking("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed
return ret
@staticmethod

15
selfdrive/car/honda/carstate.py
View File

@@ -263,6 +263,21 @@ class CarState(CarStateBase):
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
ret.rightBlindspot = cp_body.vl["BSM_STATUS_RIGHT"]["BSM_ALERT"] == 1
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value)
else:
experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
put_bool_nonblocking("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed
return ret
def get_can_parser(self, CP):

32
selfdrive/car/hyundai/carstate.py
View File

@@ -167,6 +167,21 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value)
else:
experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
put_bool_nonblocking("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed
return ret
def update_canfd(self, cp, cp_cam):
@@ -252,6 +267,21 @@ class CarState(CarStateBase):
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value)
else:
experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
put_bool_nonblocking("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed
return ret
def get_can_parser(self, CP):
@@ -301,6 +331,8 @@ class CarState(CarStateBase):
else:
messages.append(("LVR12", 100))
messages.append(("BCM_PO_11", 50))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@staticmethod

3
selfdrive/car/interfaces.py
View File

@@ -366,6 +366,7 @@ class CarStateBase(ABC):
self.param = Params()
self.param_memory = Params("/dev/shm/params")
self.lkas_previously_pressed = False
self.main_enabled = False
def update_speed_kf(self, v_ego_raw):
@@ -457,6 +458,8 @@ class CarStateBase(ABC):
return None
def update_frogpilot_params(self, params):
self.conditional_experimental_mode = params.get_bool("ConditionalExperimental")
self.experimental_mode_via_press = params.get_bool("ExperimentalModeViaPress")
INTERFACE_ATTR_FILE = {
"FINGERPRINTS": "fingerprints",

16
selfdrive/car/toyota/carstate.py
View File

@@ -162,6 +162,22 @@ class CarState(CarStateBase):
if self.CP.carFingerprint != CAR.PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available and self.CP.carFingerprint != CAR.PRIUS_V:
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
lkas_pressed = any(self.lkas_hud.get(key) == 1 for key in message_keys)
if lkas_pressed and not self.lkas_previously_pressed:
if self.conditional_experimental_mode:
# Set "CEStatus" to work with "Conditional Experimental Mode"
conditional_status = self.param_memory.get_int("CEStatus")
override_value = 0 if conditional_status in (1, 2, 3, 4) else 1 if conditional_status >= 5 else 2
self.param_memory.put_int("CEStatus", override_value)
else:
experimental_mode = self.param.get_bool("ExperimentalMode")
# Invert the value of "ExperimentalMode"
self.param.put_bool("ExperimentalMode", not experimental_mode)
self.lkas_previously_pressed = lkas_pressed
return ret
@staticmethod