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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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5
selfdrive/car/gm/gmcan.py
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@@ -106,14 +106,15 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw):
def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, lead_car_in_sight, fcw, display, personality):
target_speed = min(target_speed_kph, 255)
values = {
"ACCAlwaysOne": 1,
"ACCResumeButton": 0,
"DisplayDistance": display,
"ACCSpeedSetpoint": target_speed,
"ACCGapLevel": 3 * enabled, # 3 "far", 0 "inactive"
"ACCGapLevel": min(personality + 1, 3), # 3 "far", 0 "inactive"
"ACCCmdActive": enabled,
"ACCAlwaysOne2": 1,
"ACCLeadCar": lead_car_in_sight,