github-actions[bot]
de77c89cf6
version: sunnypilot v2026.002.000 (staging) date: 2026-07-21T07:44:02 master commit: 2c334ede443d7391d27575af8c854a095ba702a8
52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from openpilot.cereal import custom
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from opendbc.car.structs import car
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from opendbc.car import structs
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from openpilot.common.params import Params
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ButtonType = car.CarState.ButtonEvent.Type
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EventNameSP = custom.OnroadEventSP.EventName
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DISTANCE_LONG_PRESS = 50
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class CruiseHelper:
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def __init__(self, CP: structs.CarParams):
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self.CP = CP
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self.params = Params()
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self.button_frame_counts = {ButtonType.gapAdjustCruise: 0}
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self._experimental_mode = False
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self.experimental_mode_switched = False
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def update(self, CS, events, experimental_mode) -> None:
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if self.CP.openpilotLongitudinalControl:
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if CS.cruiseState.available:
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self.update_button_frame_counts(CS)
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# toggle experimental mode once on distance button hold
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self.update_experimental_mode(events, experimental_mode)
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def update_button_frame_counts(self, CS) -> None:
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for button in self.button_frame_counts:
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if self.button_frame_counts[button] > 0:
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self.button_frame_counts[button] += 1
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for button_event in CS.buttonEvents:
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button = button_event.type.raw
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if button in self.button_frame_counts:
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self.button_frame_counts[button] = int(button_event.pressed)
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def update_experimental_mode(self, events, experimental_mode) -> None:
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if self.button_frame_counts[ButtonType.gapAdjustCruise] >= DISTANCE_LONG_PRESS and not self.experimental_mode_switched:
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self._experimental_mode = not experimental_mode
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self.params.put_bool("ExperimentalMode", self._experimental_mode)
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events.add(EventNameSP.experimentalModeSwitched)
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self.experimental_mode_switched = True
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