forked from IQ.Lvbs/IQ.Pilot
60 lines
2.4 KiB
Python
60 lines
2.4 KiB
Python
"""
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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"""
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from cereal import log
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from iqdbc.car import structs
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from iqdbc.car.chrysler.values import RAM_DT
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from openpilot.selfdrive.selfdrived.events import Events
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from openpilot.iqpilot.selfdrive.selfdrived.events import IQEvents
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_E = log.OnroadEvent.EventName
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_GEAR = structs.CarState.GearShifter
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# RAM_DT trucks with an enable floor at/above this need the gear-gated steer-floor latch
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_RAM_STEER_FLOOR_MS = 14.5
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class VehicleEvents:
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"""Brand-specific corrections layered onto the generic onroad event set.
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openpilot's shared event path doesn't cover a couple of platform quirks: RAM_DT owns its
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own low-speed steering floor, and a gas-interceptor Toyota can creep off a stop without the
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stock resume prompt. Each supported brand gets a small handler that edits the live event set.
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"""
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def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
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self.CP = CP
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self.CP_IQ = CP_IQ
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self._steer_floor_held = False
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def update(self, CS: structs.CarState, events: Events) -> IQEvents:
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handler = self._BRAND_HANDLERS.get(self.CP.brand)
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if handler is not None:
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handler(self, CS, events)
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return IQEvents()
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def _ram_steer_floor(self, CS: structs.CarState, events: Events) -> None:
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if self.CP.carFingerprint in RAM_DT:
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# RAM_DT drives its own steer floor, so drop openpilot's generic alert and latch ours instead.
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# Two independent gates on purpose: clearing above the enable floor, then re-latching when
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# parked out of Drive — the latch wins when both hold at once.
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events.remove(_E.belowSteerSpeed)
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if CS.vEgo >= self.CP.minEnableSpeed:
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self._steer_floor_held = False
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if self.CP.minEnableSpeed >= _RAM_STEER_FLOOR_MS and CS.gearShifter != _GEAR.drive:
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self._steer_floor_held = True
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if self._steer_floor_held:
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events.add(_E.belowSteerSpeed)
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def _toyota_interceptor_resume(self, CS: structs.CarState, events: Events) -> None:
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if not self.CP.openpilotLongitudinalControl:
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return
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stopped_and_coasting = CS.cruiseState.standstill and not CS.brakePressed
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if stopped_and_coasting and self.CP_IQ.enableGasInterceptor:
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events.remove(_E.resumeRequired)
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_BRAND_HANDLERS = {
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'chrysler': _ram_steer_floor,
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'toyota': _toyota_interceptor_resume,
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}
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