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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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16
selfdrive/car/toyota/carstate.py
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@@ -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