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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
Download Patch File Download Diff File Expand all files Collapse all files

4
selfdrive/car/honda/carcontroller.py
View File

@@ -94,7 +94,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "lead_visible",
["pcm_accel", "v_cruise", "lead_visible", "distance_lines",
"lanes_visible", "fcw", "acc_alert", "steer_required"])
@@ -251,7 +251,7 @@ class CarController:
# Send dashboard UI commands.
if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud))

19
selfdrive/car/honda/carstate.py
View File

@@ -268,6 +268,25 @@ 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
# Driving personalities function
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.param_memory.put_bool("PersonalityChangedViaUI", False)
# Change personality upon steering wheel button press
self.distance_button = self.cruise_setting == 3
if self.distance_button and not self.distance_previously_pressed:
self.param_memory.put_bool("PersonalityChangedViaWheel", True)
self.personality_profile = (self.previous_personality_profile + 2) % 3
self.distance_previously_pressed = self.distance_button
if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
self.param.put_int("LongitudinalPersonality", self.personality_profile)
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if self.experimental_mode_via_press and ret.cruiseState.available:
lkas_pressed = self.cruise_setting == 1

2
selfdrive/car/honda/hondacan.py
View File

@@ -132,7 +132,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
acc_hud_values = {
'CRUISE_SPEED': hud.v_cruise,
'ENABLE_MINI_CAR': 1 if enabled else 0,
'HUD_DISTANCE': 0, # max distance setting on display
'HUD_DISTANCE': hud.distance_lines,
'IMPERIAL_UNIT': int(not is_metric),
'HUD_LEAD': 2 if enabled and hud.lead_visible else 1 if enabled else 0,
'SET_ME_X01_2': 1,