mouxangithub
b40c885c6a
将原有 TOYOTA_WILDLANDER 车型标识重命名为 TOYOTA_WILDLANDER_PHEV， 并更新相关指纹、平台名称和测试路由配置。同时增加该车型的 SRS 和 Hybrid ECU 固件版本信息。 此外，修改 dmonitoringd.py 中的监控逻辑，使在 always_on 模式下也能执行 DM.run_step 流程。 还更新了 launch_openpilot.sh 中的 API 和 ATHENA 服务地址。
153 lines
4.2 KiB
Python
153 lines
4.2 KiB
Python
from cereal import log, car, custom
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from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
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NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
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AlertSize = log.SelfdriveState.AlertSize
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AlertStatus = log.SelfdriveState.AlertStatus
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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AudibleAlert = car.CarControl.HUDControl.AudibleAlert
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EventNameSP = custom.OnroadEventSP.EventName
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# get event name from enum
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EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
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class EventsSP(EventsBase):
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def __init__(self):
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super().__init__()
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self.event_counters = dict.fromkeys(EVENTS_SP.keys(), 0)
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def get_events_mapping(self) -> dict[int, dict[str, Alert | AlertCallbackType]]:
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return EVENTS_SP
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def get_event_name(self, event: int):
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return EVENT_NAME_SP[event]
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def get_event_msg_type(self):
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return custom.OnroadEventSP.Event
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EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
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# sunnypilot
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EventNameSP.lkasEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.engage),
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},
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EventNameSP.lkasDisable: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.disengage),
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},
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EventNameSP.manualSteeringRequired: {
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ET.USER_DISABLE: Alert(
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"自动车道居中功能已关闭",
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"需要手动转向",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.disengage, 1.),
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},
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EventNameSP.manualLongitudinalRequired: {
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ET.WARNING: Alert(
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"智能/自适应巡航控制：关闭",
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"需要手动速度控制",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
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},
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EventNameSP.silentLkasEnable: {
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ET.ENABLE: EngagementAlert(AudibleAlert.none),
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},
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EventNameSP.silentLkasDisable: {
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ET.USER_DISABLE: EngagementAlert(AudibleAlert.none),
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},
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EventNameSP.silentBrakeHold: {
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ET.WARNING: EngagementAlert(AudibleAlert.none),
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ET.NO_ENTRY: NoEntryAlert("刹车保持激活"),
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},
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EventNameSP.silentWrongGear: {
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ET.WARNING: Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
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ET.NO_ENTRY: Alert(
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"档位不在D档",
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"openpilot不可用",
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AlertStatus.normal, AlertSize.mid,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 0.),
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},
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EventNameSP.silentReverseGear: {
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ET.PERMANENT: Alert(
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"倒车中",
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"",
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AlertStatus.normal, AlertSize.full,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2, creation_delay=0.5),
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ET.NO_ENTRY: NoEntryAlert("倒车中"),
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},
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EventNameSP.silentDoorOpen: {
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ET.WARNING: Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
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ET.NO_ENTRY: NoEntryAlert("车门已打开"),
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},
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EventNameSP.silentSeatbeltNotLatched: {
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ET.WARNING: Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
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ET.NO_ENTRY: NoEntryAlert("请系好安全带"),
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},
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EventNameSP.silentParkBrake: {
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ET.WARNING: Alert(
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"",
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"",
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AlertStatus.normal, AlertSize.none,
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Priority.LOWEST, VisualAlert.none, AudibleAlert.none, 0.),
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ET.NO_ENTRY: NoEntryAlert("手刹已启用"),
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},
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EventNameSP.controlsMismatchLateral: {
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ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("控制装置不匹配：横向"),
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ET.NO_ENTRY: NoEntryAlert("控制装置不匹配：横向"),
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},
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EventNameSP.experimentalModeSwitched: {
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ET.WARNING: NormalPermanentAlert("实验模式切换", duration=1.5)
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},
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EventNameSP.wrongCarModeAlertOnly: {
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ET.WARNING: wrong_car_mode_alert,
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},
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EventNameSP.pedalPressedAlertOnly: {
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ET.WARNING: NoEntryAlert("踏板被踩下")
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},
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EventNameSP.laneTurnLeft: {
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ET.WARNING: Alert(
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"左转",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
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},
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EventNameSP.laneTurnRight: {
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ET.WARNING: Alert(
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"右转",
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"",
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AlertStatus.normal, AlertSize.small,
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Priority.LOW, VisualAlert.none, AudibleAlert.none, 1.),
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}
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}
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