Skip to content

toyota cruise buttons #15

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
ntegan1 wants to merge 1 commit into
base: master
Choose a base branch
from
Open

toyota cruise buttons #15

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
6 changes: 6 additions & 0 deletions selfdrive/car/toyota/carstate.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -30,8 +30,12 @@ def __init__(self, CP):
self.acc_type = 1
self.lkas_hud = {}

self.cruise_buttons = 0
self.cruise_buttons_prev = 0

def update(self, cp, cp_cam):
ret = car.CarState.new_message()
self.cruise_buttons_prev = self.cruise_buttons

ret.doorOpen = any([cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_FR"],
cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RL"], cp.vl["BODY_CONTROL_STATE"]["DOOR_OPEN_RR"]])
Expand Down Expand Up @@ -79,6 +83,8 @@ def update(self, cp, cp_cam):

ret.steeringRateDeg = cp.vl["STEER_ANGLE_SENSOR"]["STEER_RATE"]

self.cruise_buttons = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]

can_gear = int(cp.vl["GEAR_PACKET"]["GEAR"])
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
ret.leftBlinker = cp.vl["BLINKERS_STATE"]["TURN_SIGNALS"] == 1
Expand Down
34 changes: 33 additions & 1 deletion selfdrive/car/toyota/interface.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,12 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car.toyota.values import CruiseButtons, Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase

EventName = car.CarEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type


class CarInterface(CarInterfaceBase):
Expand Down Expand Up @@ -239,6 +240,37 @@ def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
+ buttonEvents = []
+
+ #SET / CANCEL
+ if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
+ be = car.CarState.ButtonEvent.new_message()
+ be.pressed = False
+ be.type = ButtonType.setCruise
+ buttonEvents.append(be)
+ elif self.CS.out.cruiseState.enabled and not ret.cruiseState.enabled:
+ be = car.CarState.ButtonEvent.new_message()
+ be.pressed = True
+ be.type = ButtonType.cancel
+ buttonEvents.append(be)
+
+ #ACCEL / DECEL
+ if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+ be = car.CarState.ButtonEvent.new_message()
+ be.type = ButtonType.unknown
+ if self.CS.cruise_buttons in [CruiseButtons.ACCEL_ACC, CruiseButtons.ACCEL_CC,CruiseButtons.DECEL_ACC, CruiseButtons.DECEL_CC]:
+ be.pressed = True
+ but = self.CS.cruise_buttons
+ else:
+ be.pressed = False
+ but = self.CS.prev_cruise_buttons
+ if but in [CruiseButtons.ACCEL_ACC, CruiseButtons.ACCEL_CC]:
+ be.type = ButtonType.accelCruise
+ elif but in [CruiseButtons.DECEL_ACC, CruiseButtons.DECEL_CC]:
+ be.type = ButtonType.decelCruise
+ buttonEvents.append(be)
+
+ ret.buttonEvents = buttonEvents

# events
events = self.create_common_events(ret)
Expand Down
11 changes: 11 additions & 0 deletions selfdrive/car/toyota/values.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,17 @@ class ToyotaFlags(IntFlag):
HYBRID = 1


# Car button codes for COROLLA
class CruiseButtons:
ACCEL_ACC = 9
DECEL_ACC = 10
SET_ACC = 8
ACCEL_CC = 6
DECEL_CC = 5
SET_CC = 1
CANCEL = 0


class CAR:
# Toyota
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
Expand Down