mawei/sunnypilot
1
0
Fork 0
mirror of https://github.com/sunnypilot/sunnypilot.git synced 2026-02-18 20:03:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

card: move drivable gears to opendbc (#36942)

Browse Source 
* card: move drivable gears to opendbc

* it's not none

* bump opendbc

* mypy
This commit is contained in:
Adeeb Shihadeh
2025-12-20 15:22:30 -08:00
committed by GitHub
parent de975d5af9
commit 67742699cc
2 changed files with 5 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc_repo

Submodule opendbc_repo updated: 39773a987e...4aa7ca9722

20
selfdrive/car/car_specific.py
View File

@@ -1,5 +1,6 @@
from cereal import car, log
from opendbc.car import DT_CTRL, structs
from opendbc.car.car_helpers import interfaces
from opendbc.car.interfaces import MAX_CTRL_SPEED
from openpilot.selfdrive.selfdrived.events import Events
@@ -10,18 +11,6 @@ EventName = log.OnroadEvent.EventName
NetworkLocation = structs.CarParams.NetworkLocation
BRAND_EXTRA_GEARS = {
'ford': [GearShifter.low, GearShifter.manumatic],
'nissan': [GearShifter.brake],
'chrysler': [GearShifter.low],
'honda': [GearShifter.sport],
'toyota': [GearShifter.sport],
'gm': [GearShifter.sport, GearShifter.low, GearShifter.eco, GearShifter.manumatic],
'volkswagen': [GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
'hyundai': [GearShifter.sport, GearShifter.manumatic]
}
class CarSpecificEvents:
def __init__(self, CP: structs.CarParams):
self.CP = CP
@@ -32,7 +21,7 @@ class CarSpecificEvents:
self.silent_steer_warning = True
def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
extra_gears = BRAND_EXTRA_GEARS.get(self.CP.brand, None)
extra_gears = interfaces[self.CP.carFingerprint].DRIVABLE_GEARS
if self.CP.brand in ('body', 'mock'):
events = Events()
@@ -118,7 +107,7 @@ class CarSpecificEvents:
return events
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: list | None = None, pcm_enable=True,
def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears: tuple = (), pcm_enable=True,
allow_button_cancel=True):
events = Events()
@@ -126,8 +115,7 @@ class CarSpecificEvents:
events.add(EventName.doorOpen)
if CS.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if CS.gearShifter != GearShifter.drive and (extra_gears is None or
CS.gearShifter not in extra_gears):
if CS.gearShifter != GearShifter.drive and CS.gearShifter not in extra_gears:
events.add(EventName.wrongGear)
if CS.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)