9b1ff06bba
Maintain openpilot lateral control when the brake or gas pedals are used. Deactivation occurs only through the 'Cruise Control' button. Lots of credit goes to "pfeiferj"! Couldn't of done it without him! https: //github.com/pfeiferj/openpilot Co-Authored-By: Jacob Pfeifer <jacob@pfeifer.dev>
73 lines
1.9 KiB
Python
73 lines
1.9 KiB
Python
from cereal import car
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from openpilot.selfdrive.car.chrysler.values import RAM_CARS
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GearShifter = car.CarState.GearShifter
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam, lat_active):
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# LKAS_HUD - Controls what lane-keeping icon is displayed
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# == Color ==
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# 0 hidden?
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# 1 white
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# 2 green
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# 3 ldw
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# == Lines ==
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# 03 white Lines
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# 04 grey lines
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# 09 left lane close
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# 0A right lane close
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# 0B left Lane very close
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# 0C right Lane very close
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# 0D left cross cross
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# 0E right lane cross
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# == Alerts ==
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# 7 Normal
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# 6 lane departure place hands on wheel
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color = 2 if lkas_active else 1 if lat_active else 0
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lines = 3 if lkas_active else 0
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alerts = 7 if lkas_active else 0
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if hud_count < (1 * 4): # first 3 seconds, 4Hz
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alerts = 1
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if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
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color = 4
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lines = 0
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alerts = 6
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values = {
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"LKAS_ICON_COLOR": color,
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"CAR_MODEL": car_model,
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"LKAS_LANE_LINES": lines,
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"LKAS_ALERTS": alerts,
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}
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if CP.carFingerprint in RAM_CARS:
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values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
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values['LKAS_DISABLED'] = 0 if lat_active else 1
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return packer.make_can_msg("DAS_6", 0, values)
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def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
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# LKAS_COMMAND Lane-keeping signal to turn the wheel
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enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
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values = {
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"STEERING_TORQUE": apply_steer,
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"LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
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}
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return packer.make_can_msg("LKAS_COMMAND", 0, values)
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def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
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values = {
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"ACC_Cancel": cancel,
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"ACC_Resume": resume,
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"COUNTER": frame % 0x10,
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}
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return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
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