mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-19 10:03:55 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hyundai: match cancel button panda safety logic (#34390)

Browse Source 
* rising edge

* should work

* TODO

* fix
This commit is contained in:
Shane Smiskol
2025-01-14 21:37:55 -08:00
committed by GitHub
parent 38fad751cb
commit 2258ea310d
1 changed files with 4 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

7
selfdrive/car/car_specific.py
View File

@@ -149,7 +149,7 @@ class CarSpecificEvents:
# Main button also can trigger an engagement on these cars
self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
events = self.create_common_events(CS, CS_prev, extra_gears=(GearShifter.sport, GearShifter.manumatic),
pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons), allow_button_cancel=False)
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
@@ -165,7 +165,7 @@ class CarSpecificEvents:
return events
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
allow_enable=True, allow_button_cancel=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
events = Events()
if CS.doorOpen:
@@ -216,7 +216,8 @@ class CarSpecificEvents:
if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
events.add(EventName.buttonEnable)
# Disable on rising and falling edge of cancel for both stock and OP long
if b.type == ButtonType.cancel:
# TODO: only check the cancel button with openpilot longitudinal on all brands to match panda safety
if b.type == ButtonType.cancel and (allow_button_cancel or not self.CP.pcmCruise):
events.add(EventName.buttonCancel)
# Handle permanent and temporary steering faults