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Experimental Mode via steering wheel / onroad UI

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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
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32
selfdrive/car/hyundai/carstate.py
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@@ -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