IQ.Pilot Release Commit @ bec7652

iqpilot/selfdrive/car/gap_button_actions.py

@@ -0,0 +1,48 @@
+"""
+Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
+"""
+from iqpilot.cereal import car, custom
+from iqdbc.car import structs
+from iqpilot.common.params import Params
+
+_Button = car.CarState.ButtonEvent.Type
+_IQEvent = custom.IQOnroadEvent.EventName
+_GAP_BUTTON = _Button.gapAdjustCruise
+
+HOLD_FRAMES_TO_TOGGLE = 50
+
+
+class GapButtonActions:
+  def __init__(self, CP: structs.CarParams):
+    self._CP = CP
+    self._params = Params()
+    self._gap_hold_frames = 0
+    self._already_toggled = False
+    # read (and cleared) by the personality-decrement handler in selfdrived so a
+    # release that ends a toggle-hold does not also decrement personality
+    self.experimental_mode_switched = False
+
+  def update(self, CS, events, experimental_mode) -> None:
+    if not (self._CP.openpilotLongitudinalControl and CS.cruiseState.available):
+      return
+    self._advance_hold(CS)
+    self._toggle_experimental_on_long_hold(events, experimental_mode)
+
+  def _advance_hold(self, CS) -> None:
+    # once counting, keep incrementing each frame the hold persists
+    if self._gap_hold_frames > 0:
+      self._gap_hold_frames += 1
+    # a fresh press seeds the counter; a release zeroes it
+    for be in CS.buttonEvents:
+      if be.type.raw == _GAP_BUTTON:
+        self._gap_hold_frames = int(be.pressed)
+        if not be.pressed:
+          self._already_toggled = False
+
+  def _toggle_experimental_on_long_hold(self, events, experimental_mode) -> None:
+    if self._already_toggled or self._gap_hold_frames < HOLD_FRAMES_TO_TOGGLE:
+      return
+    self._params.put_bool_nonblocking("ExperimentalMode", not experimental_mode)
+    events.add(_IQEvent.experimentalToggled)
+    self._already_toggled = True
+    self.experimental_mode_switched = True