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add door/seatbelt/gear safety check toggle

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This commit is contained in:
Rick Lan
2020-03-22 18:34:21 +10:00
parent 9edfe061a9
commit 684fbd3480
3 changed files with 20 additions and 7 deletions
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3
common/params.py
View File

@@ -174,6 +174,9 @@ keys = {
"DragonLastModified": [TxType.PERSISTENT],
"DragonEnableRegistration": [TxType.PERSISTENT],
"DragonDynamicFollow": [TxType.PERSISTENT],
"DragonEnableDoorCheck": [TxType.PERSISTENT],
"DragonEnableSeatBeltCheck": [TxType.PERSISTENT],
"DragonEnableGearCheck": [TxType.PERSISTENT],
}

21
selfdrive/car/interfaces.py
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@@ -44,6 +44,9 @@ class CarInterfaceBase():
self.ts_last_check = 0.
self.dragon_lat_ctrl = True
self.dp_last_modified = None
self.dp_door_check = True
self.dp_seatbelt_check = True
self.dp_gear_check = True
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
@@ -113,25 +116,29 @@ class CarInterfaceBase():
self.dragon_toyota_stock_dsu = False
if not self.dragon_toyota_stock_dsu:
self.dragon_allow_gas = True if params.get("DragonAllowGas", encoding='utf8') == "1" else False
self.dp_door_check = False if params.get("DragonEnableDoorCheck", encoding='utf8') == "0" else True
self.dp_seatbelt_check = False if params.get("DragonEnableSeatBeltCheck", encoding='utf8') == "0" else True
self.dp_gear_check = False if params.get("DragonEnableGearCheck", encoding='utf8') == "0" else True
self.dp_last_modified = modified
self.ts_last_check = ts
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
events = []
if cs_out.doorOpen:
if self.dp_door_check and cs_out.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.seatbeltUnlatched:
if self.dp_seatbelt_check and cs_out.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.dp_gear_check:
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not cs_out.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if cs_out.espDisabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if cs_out.gasPressed and not self.dragon_toyota_stock_dsu and not self.dragon_allow_gas:
if not self.dragon_allow_gas and cs_out.gasPressed and not self.dragon_toyota_stock_dsu:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
# TODO: move this stuff to the capnp strut

3
selfdrive/dragonpilot/dragonconf/__init__.py
View File

@@ -72,6 +72,9 @@ default_conf = {
'DragonLastModified': str(floor(time.time())),
'DragonEnableRegistration': '1',
'DragonDynamicFollow': '-2', # OFF = -2, LONG = -1, NORMAL = 0, SHORT = 1
'DragonEnableDoorCheck': '1',
'DragonEnableSeatBeltCheck': '1',
'DragonEnableGearCheck': '1',
}
deprecated_conf = {