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Nissan: Parse distance button from steering wheel #31766

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merged 2 commits into from
Mar 12, 2024
Merged

Nissan: Parse distance button from steering wheel #31766

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754f8eb
Nissan: Parse distance button from steering wheel
sunnyhaibin Mar 7, 2024
77b9404
Merge remote-tracking branch 'commaai/openpilot/master' into nissan-gac
sunnyhaibin Mar 12, 2024
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6 changes: 6 additions & 0 deletions selfdrive/car/nissan/carstate.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,15 @@ def __init__(self, CP):
self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]

self.prev_distance_button = 0
self.distance_button = 0

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

self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]

if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
ret.gas = cp.vl["GAS_PEDAL"]["GAS_PEDAL"]
elif self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
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6 changes: 5 additions & 1 deletion selfdrive/car/nissan/interface.py
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Original file line number Diff line number Diff line change
@@ -1,9 +1,11 @@
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.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR

ButtonType = car.CarState.ButtonEvent.Type


class CarInterface(CarInterfaceBase):

Expand Down Expand Up @@ -35,6 +37,8 @@ def _update(self, c):
be.type = car.CarState.ButtonEvent.Type.accelCruise
buttonEvents.append(be)
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ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})

events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])

if self.CS.lkas_enabled:
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