60ace13f77
Enable/disable 'Experimental Mode' by double clicking the 'LKAS' button on your steering wheel.
58 lines
1.9 KiB
Python
Executable File
58 lines
1.9 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car, custom
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from openpilot.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
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from openpilot.selfdrive.car import create_button_events, get_safety_config
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from openpilot.selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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FrogPilotButtonType = custom.FrogPilotCarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def _get_params(ret, params, candidate, fingerprint, car_fw, experimental_long, docs):
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ret.carName = "mazda"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
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ret.radarUnavailable = True
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ret.dashcamOnly = False
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ret.steerActuatorDelay = 0.1
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ret.steerLimitTimer = 0.8
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CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
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if candidate not in (CAR.CX5_2022, ):
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ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
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ret.centerToFront = ret.wheelbase * 0.41
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return ret
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# returns a car.CarState
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def _update(self, c, frogpilot_variables):
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ret, fp_ret = self.CS.update(self.cp, self.cp_cam, frogpilot_variables)
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# TODO: add button types for inc and dec
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ret.buttonEvents = [
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*create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}),
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*create_button_events(self.CS.lkas_enabled, self.CS.lkas_previously_enabled, {1: FrogPilotButtonType.lkas}),
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]
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# events
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events = self.create_common_events(ret)
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if self.CS.lkas_disabled:
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events.add(EventName.lkasDisabled)
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elif self.CS.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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return ret, fp_ret
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def apply(self, c, now_nanos, frogpilot_variables):
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return self.CC.update(c, self.CS, now_nanos, frogpilot_variables)
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