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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/hyundai/carcontroller.py
View File

@@ -131,7 +131,7 @@ class CarController:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units))
set_speed_in_units, CS.personality_profile))
self.accel_last = accel
else:
# button presses
@@ -151,7 +151,7 @@ class CarController:
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
hud_control.leadVisible, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available))
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available, CS.personality_profile))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:

32
selfdrive/car/hyundai/carstate.py
View File

@@ -167,6 +167,22 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# 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
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.param_memory.put_bool("PersonalityChangedViaWheel", True)
self.personality_profile = (self.previous_personality_profile + 2) % 3
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 = cp.vl["BCM_PO_11"]["LFA_Pressed"]
@@ -267,6 +283,22 @@ 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"])
# 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
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.param_memory.put_bool("PersonalityChangedViaWheel", True)
self.personality_profile = (self.previous_personality_profile + 2) % 3
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 = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]

4
selfdrive/car/hyundai/hyundaican.py
View File

@@ -126,12 +126,12 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
}
return packer.make_can_msg("LFAHDA_MFC", 0, values)
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available):
def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca, cruise_available, personality):
commands = []
scc11_values = {
"MainMode_ACC": 1 if cruise_available else 0,
"TauGapSet": 4,
"TauGapSet": personality + 1,
"VSetDis": set_speed if enabled else 0,
"AliveCounterACC": idx % 0x10,
"ObjValid": 1, # close lead makes controls tighter

4
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -121,7 +121,7 @@ def create_lfahda_cluster(packer, CAN, enabled):
return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, personality):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
@@ -146,7 +146,7 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": 4,
"DISTANCE_SETTING": personality + 1,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)