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MADS: Map cruise main and lateral buttons to button events (#373) 

* MADS: Map cruise main and lateral buttons to button events
* MADS: Map cruise main and lateral buttons to button events

* different style

* nah

(cherry picked from commit 4d7afe3a7b)

* reimplement
This commit is contained in:
Jason Wen 2024-08-01 06:26:27 -08:00 committed by GitHub
parent fa3a0ba747
commit 54d5281064
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
6 changed files with 30 additions and 16 deletions
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8
selfdrive/car/chrysler/interface.py
View File

@ -93,7 +93,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@ -108,7 +112,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.lkas_disabled = not self.CS.lkas_disabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)

8
selfdrive/car/ford/interface.py
View File

@ -74,7 +74,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
self.CS.button_events.extend(create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}))
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@ -85,7 +89,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if not self.CS.prev_lkas_enabled and self.CS.lkas_enabled:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
else:

7
selfdrive/car/gm/interface.py
View File

@ -218,6 +218,11 @@ class CarInterface(CarInterfaceBase):
]
distance_button = self.CS.distance_button
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
if not self.CP.pcmCruise:
@ -231,7 +236,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if self.CS.prev_lkas_enabled != 1 and self.CS.lkas_enabled == 1:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
else:

2
selfdrive/car/honda/interface.py
View File

@ -282,7 +282,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if self.CS.prev_cruise_setting != 1 and self.CS.cruise_setting == 1:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
else:

16
selfdrive/car/hyundai/interface.py
View File

@ -205,7 +205,11 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
self.sp_update_params()
self.CS.button_events = create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)
self.CS.button_events = [
*create_button_events(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.CS.lfa_enabled, self.CS.prev_lfa_enabled, {1: ButtonType.altButton1}),
*create_button_events(self.CS.main_buttons[-1], self.CS.prev_main_buttons, {1: ButtonType.altButton3}),
]
self.CS.accEnabled = self.get_sp_v_cruise_non_pcm_state(ret, self.CS.accEnabled,
self.CS.button_events, c.vCruise)
@ -214,16 +218,12 @@ class CarInterface(CarInterfaceBase):
if ret.cruiseState.available:
if not self.CP.pcmCruiseSpeed:
if self.CS.prev_main_buttons == 1:
if self.CS.main_buttons[-1] != 1:
self.CS.accEnabled = True
elif self.CS.prev_cruise_buttons == 4:
if self.CS.cruise_buttons[-1] != 4:
self.accEnabled = True
if any(b.type in (ButtonType.altButton3, ButtonType.cancel) and not b.pressed for b in self.CS.button_events):
self.CS.accEnabled = True
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if self.CS.prev_lfa_enabled != 1 and self.CS.lfa_enabled == 1:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
else:

5
selfdrive/car/mazda/interface.py
View File

@ -42,7 +42,8 @@ class CarInterface(CarInterfaceBase):
# TODO: add button types for inc and dec
self.CS.button_events = [
*self.CS.button_events,
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
*create_button_events(self.CS.lkas_enabled, self.CS.prev_lkas_enabled, {1: ButtonType.altButton1}),
]
self.CS.mads_enabled = self.get_sp_cruise_main_state(ret, self.CS)
@ -54,7 +55,7 @@ class CarInterface(CarInterfaceBase):
if self.enable_mads:
if not self.CS.prev_mads_enabled and self.CS.mads_enabled:
self.CS.madsEnabled = True
if self.CS.prev_lkas_enabled != self.CS.lkas_enabled:
if any(b.type == ButtonType.altButton1 and b.pressed for b in self.CS.button_events):
self.CS.madsEnabled = not self.CS.madsEnabled
self.CS.madsEnabled = self.get_acc_mads(ret.cruiseState.enabled, self.CS.accEnabled, self.CS.madsEnabled)
else: