From 4c76d1b9a0d790d2fcea36707adba0d3ba49a496 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 12 Mar 2024 18:03:14 -0400 Subject: [PATCH] Chrysler: Parse distance button from steering wheel (#31764) --- selfdrive/car/chrysler/carstate.py | 6 ++++++ selfdrive/car/chrysler/interface.py | 6 +++++- 2 files changed, 11 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py index eb1cf7e7d5..91b922c596 100644 --- a/selfdrive/car/chrysler/carstate.py +++ b/selfdrive/car/chrysler/carstate.py @@ -21,10 +21,16 @@ class CarState(CarStateBase): else: self.shifter_values = can_define.dv["GEAR"]["PRNDL"] + self.prev_distance_button = 0 + self.distance_button = 0 + def update(self, cp, cp_cam): ret = car.CarState.new_message() + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"] + # lock info ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"], cp.vl["BCM_1"]["DOOR_OPEN_FR"], diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index eb40bc6f6e..198bf63b10 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -1,10 +1,12 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags from openpilot.selfdrive.car.interfaces import CarInterfaceBase +ButtonType = car.CarState.ButtonEvent.Type + class CarInterface(CarInterfaceBase): @staticmethod @@ -76,6 +78,8 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) + ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + # events events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])