Merge pull request commaai#369 from arne182/priusblinker

Priusblinker confrimed working by @pratik
priuscom · Jun 13, 2019 · 410c1a5 · 410c1a5
2 parents 500ca6f + 899b2aa
commit 410c1a5
Showing 1 changed file with 20 additions and 8 deletions.
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
@@ -245,6 +245,7 @@ def __init__(self, CP):
     self.CP = CP
     self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
     self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
+
     self.left_blinker_on = 0
     self.right_blinker_on = 0
     self.lkas_barriers = 0
@@ -268,6 +269,9 @@ def __init__(self, CP):
 
     #BB variable for custom buttons
     self.cstm_btns = UIButtons(self,"Toyota","toyota")
+    if self.CP.carFingerprint == CAR.PRIUS:
+      self.alcaMode = 3
+      self.cstm_btns.set_button_status("alca", 0)
 
     #BB pid holder for ALCA
     self.pid = None
@@ -291,7 +295,7 @@ def __init__(self, CP):
   def init_ui_buttons(self):
     btns = []
     btns.append(UIButton("sound", "SND", 0, "", 0))
-    btns.append(UIButton("alca", "ALC", 1, self.alcaLabels[self.alcaMode], 1))
+    btns.append(UIButton("alca", "ALC", 0, self.alcaLabels[self.alcaMode], 1))
     btns.append(UIButton("slow", "SLO", self.sloMode, self.sloLabels[self.sloMode], 2))
     btns.append(UIButton("lka", "LKA", 1, "", 3))
     btns.append(UIButton("tr", "TR", 0, "", 4))
@@ -304,12 +308,20 @@ def update_ui_buttons(self,id,btn_status):
       if (id == 1) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="alca":
           if self.cstm_btns.btns[id].btn_label2 == self.alcaLabels[self.alcaMode]:
             self.alcaMode = (self.alcaMode + 1 ) % 4
+            if self.CP.carFingerprint == CAR.PRIUS:
+              self.alcaMode = 3
+              self.cstm_btns.set_button_status("alca", 0)
             kegman.save({'lastALCAMode': int(self.alcaMode)})  # write last ALCAMode setting to file
           else:
             self.alcaMode = 0
+            if self.CP.carFingerprint == CAR.PRIUS:
+              self.alcaMode = 3
+              self.cstm_btns.set_button_status("alca", 0)
             kegman.save({'lastALCAMode': int(self.alcaMode)})  # write last ALCAMode setting to file
           self.cstm_btns.btns[id].btn_label2 = self.alcaLabels[self.alcaMode]
           self.cstm_btns.hasChanges = True
+          if self.CP.carFingerprint == CAR.PRIUS:
+            self.alcaMode = 3
           if self.alcaMode == 3:
             self.cstm_btns.set_button_status("alca", 0)
       elif (id == 2) and (btn_status == 0) and self.cstm_btns.btns[id].btn_name=="slow":
@@ -368,7 +380,9 @@ def update(self, cp, cp_cam):
         self.lastspeedlimitvalid = True
       else:
         self.lastspeedlimitvalid = False
-
+
+    if self.CP.carFingerprint == CAR.PRIUS:
+      self.alcaMode = 3
 
     if msg is not None:
       gps_pkt = msg.gpsLocationExternal
@@ -434,12 +448,10 @@ def update(self, cp, cp_cam):
       elif self.gasMode == 2:
         self.econ_on = 1
     self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
-    if self.CP.carFingerprint != CAR.PRIUS:
-      self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
-      self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
-    else:
-      self.left_blinker_on = False
-      self.right_blinker_on = False
+
+    self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
+    self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
+
     #self.lkas_barriers = cp_cam.vl["LKAS_HUD"]['BARRIERS']
     #self.left_line = cp_cam.vl["LKAS_HUD"]['LEFT_LINE']
     #self.right_line = cp_cam.vl["LKAS_HUD"]['RIGHT_LINE']