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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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71
selfdrive/car/gm/carstate.py
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@@ -5,7 +5,7 @@ from openpilot.common.numpy_fast import mean
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CC_ONLY_CAR, CAMERA_ACC_CAR, SDGM_CAR
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD, GMFlags, CAMERA_ACC_CAR, CC_ONLY_CAR, SDGM_CAR
TransmissionType = car.CarParams.TransmissionType
NetworkLocation = car.CarParams.NetworkLocation
@@ -27,23 +27,24 @@ class CarState(CarStateBase):
self.cam_lka_steering_cmd_counter = 0
self.buttons_counter = 0
self.prev_distance_button = 0
self.distance_button = 0
# FrogPilot variables
self.single_pedal_mode = False
# FrogPilot variables
self.display_menu = False
self.display_timer = 0
def update(self, pt_cp, cam_cp, loopback_cp, frogpilot_variables):
ret = car.CarState.new_message()
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button
if self.CP.carFingerprint not in SDGM_CAR:
self.cruise_buttons = pt_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = pt_cp.vl["ASCMSteeringButton"]["RollingCounter"]
else:
self.cruise_buttons = cam_cp.vl["ASCMSteeringButton"]["ACCButtons"]
self.distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
self.buttons_counter = cam_cp.vl["ASCMSteeringButton"]["RollingCounter"]
self.pscm_status = copy.copy(pt_cp.vl["PSCMStatus"])
# This is to avoid a fault where you engage while still moving backwards after shifting to D.
@@ -167,58 +168,11 @@ class CarState(CarStateBase):
ret.leftBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
ret.rightBlindspot = cam_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
# Driving personalities function - Credit goes to Mangomoose!
if frogpilot_variables.personalities_via_wheel and ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.previous_personality_profile = self.personality_profile
self.fpf.reset_personality_changed_param()
# Check if the car has a camera
has_camera = self.CP.networkLocation == NetworkLocation.fwdCamera
has_camera &= not self.CP.flags & GMFlags.NO_CAMERA.value
has_camera &= 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:
distance_button = cam_cp.vl["ASCMSteeringButton"]["DistanceButton"]
else:
distance_button = pt_cp.vl["ASCMSteeringButton"]["DistanceButton"]
if 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 = 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 and self.personality_profile >= 0:
self.fpf.distance_button_function(self.personality_profile)
self.previous_personality_profile = self.personality_profile
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
if self.CP.carFingerprint in SDGM_CAR:
lkas_pressed = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
lkas_pressed = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
self.lkas_previously_enabled = self.lkas_enabled
if self.CP.carFingerprint in SDGM_CAR:
self.lkas_enabled = cam_cp.vl["ASCMSteeringButton"]["LKAButton"]
else:
self.lkas_enabled = pt_cp.vl["ASCMSteeringButton"]["LKAButton"]
return ret
@@ -285,6 +239,7 @@ class CarState(CarStateBase):
messages += [
("ASCMLKASteeringCmd", 0),
]
if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
messages.remove(("ECMAcceleratorPos", 80))
messages.append(("EBCMBrakePedalPosition", 100))