mawei/dragonpilot
1
0
Fork 0
mirror of https://github.com/dragonpilot/dragonpilot.git synced 2026-03-01 23:43:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

Toyota: forward openpilot FCW to cluster when engaged (#25677)

Browse Source 
* move ui message handling out of condition

* relay openpilot fcw to car

* only send normal fcw if DSU is unplugged

* add comment

---------

Co-authored-by: Shane Smiskol <shane@smiskol.com>
This commit is contained in:
Irene
2023-08-26 13:17:05 +10:00
committed by GitHub
parent 3b69187b67
commit b3e4eb15dc
2 changed files with 8 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

11
selfdrive/car/toyota/carcontroller.py
View File

@@ -125,6 +125,10 @@ class CarController:
self.last_standstill = CS.out.standstill
# handle UI messages
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
@@ -133,10 +137,10 @@ class CarController:
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert))
self.accel = pcm_accel_cmd
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
@@ -149,9 +153,6 @@ class CarController:
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):

3
selfdrive/car/toyota/toyotacan.py
View File

@@ -27,7 +27,7 @@ def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
return packer.make_can_msg("STEERING_LTA", 0, values)
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type):
def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_type, fcw_alert):
# TODO: find the exact canceling bit that does not create a chime
values = {
"ACCEL_CMD": accel,
@@ -38,6 +38,7 @@ def create_accel_command(packer, accel, pcm_cancel, standstill_req, lead, acc_ty
"RELEASE_STANDSTILL": not standstill_req,
"CANCEL_REQ": pcm_cancel,
"ALLOW_LONG_PRESS": 1,
"ACC_CUT_IN": fcw_alert, # only shown when ACC enabled
}
return packer.make_can_msg("ACC_CONTROL", 0, values)