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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/toyota/carstate.py
View File

@@ -165,6 +165,41 @@ class CarState(CarStateBase):
if self.CP.carFingerprint != CAR.PRIUS_V:
self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
# Driving personalities function
if self.personalities_via_wheel and ret.cruiseState.available:
# Need to subtract by 1 to comply with the personality profiles of "0", "1", and "2"
self.personality_profile = cp.vl["PCM_CRUISE_SM"]["DISTANCE_LINES"] - 1
# Sync with the onroad UI button
if self.param_memory.get_bool("PersonalityChangedViaUI"):
self.profile_restored = False
self.previous_personality_profile = self.param.get_int("LongitudinalPersonality")
self.param_memory.put_bool("PersonalityChangedViaUI", False)
# Set personality to the previous drive's personality or when the user changes it via the UI
if self.personality_profile == self.previous_personality_profile:
self.profile_restored = True
if not self.profile_restored:
self.distance_previously_pressed = not self.distance_previously_pressed
self.distance_button = not self.distance_previously_pressed
if self.profile_restored:
if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
# KRKeegan - Add support for toyota distance button
self.distance_button = cp_cam.vl["ACC_CONTROL"]["DISTANCE"]
elif self.CP.carFingerprint in RADAR_ACC_CAR:
# These cars have the acc_control on car can
self.distance_button = cp.vl["ACC_CONTROL"]["DISTANCE"]
elif self.CP.flags & ToyotaFlags.SMART_DSU:
self.distance_button = cp.vl["SDSU"]["FD_BUTTON"]
if self.personality_profile != self.previous_personality_profile and self.personality_profile >= 0:
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 and self.CP.carFingerprint != CAR.PRIUS_V:
message_keys = ["LDA_ON_MESSAGE", "SET_ME_X02"]
@@ -252,6 +287,9 @@ class CarState(CarStateBase):
("PRE_COLLISION", 33),
]
if CP.flags & ToyotaFlags.SMART_DSU:
messages.append(("SDSU", 33))
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
@staticmethod