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Switch personalities via steering wheel / onroad UI

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Added toggle to switch between the personalities via the steering wheel for GM/Toyota/Volkswagen vehicles and an onroad button for other makes.

Co-Authored-By: henryccy <104284652+henryccy@users.noreply.github.com>
Co-Authored-By: Jason Jackrel <23621790+thinkpad4by3@users.noreply.github.com>
Co-Authored-By: Eric Brown <13560103+nworb-cire@users.noreply.github.com>
Co-Authored-By: Kevin Robert Keegan <3046315+krkeegan@users.noreply.github.com>
Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
Co-Authored-By: mike8643 <98910897+mike8643@users.noreply.github.com>
This commit is contained in:
FrogAi
2024-01-12 22:39:30 -07:00
parent 22bfc8d9b7
commit c9298a885f
29 changed files with 300 additions and 21 deletions
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38
selfdrive/car/gm/carstate.py
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@@ -156,6 +156,44 @@ class CarState(CarStateBase):
ret.cruiseState.speed = pt_cp.vl["ECMCruiseControl"]["CruiseSetSpeed"] * CV.KPH_TO_MS
ret.cruiseState.enabled = pt_cp.vl["ECMCruiseControl"]["CruiseActive"] != 0
# Driving personalities function - Credit goes to Mangomoose!
if self.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button
if self.param_memory.get_bool("PersonalityChangedViaUI"):
self.personality_profile = self.param.get_int("LongitudinalPersonality")
self.previous_personality_profile = self.personality_profile
self.param_memory.put_bool("PersonalityChangedViaUI", False)
# Check if the car has a camera
has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value and not self.CP.carFingerprint in (CC_ONLY_CAR)
if has_camera:
# Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
self.personality_profile = cam_cp.vl["ASCMActiveCruiseControlStatus"]["ACCGapLevel"] - 1
else:
if self.CP.carFingerprint in SDGM_CAR:
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
else:
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
if self.distance_button and not self.distance_previously_pressed:
if self.display_menu:
self.personality_profile = (self.previous_personality_profile + 2) % 3
self.display_timer = 350
self.distance_previously_pressed = self.distance_button
# Check if the display is open
if self.display_timer > 0:
self.display_timer -= 1
self.display_menu = True
else:
self.display_menu = False
if self.personality_profile != self.previous_personality_profile:
self.param.put_int("LongitudinalPersonality", self.personality_profile)
self.param_memory.put_bool("PersonalityChangedViaWheel", True)
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.CP.carFingerprint in SDGM_CAR: