HKG fixups (#2342)

* fix hyundai blinker state

* consistency with update_speed

* update refs

* make hyundai resume reliable

* update refs

* 20 works

* don't need that

Co-authored-by: Greg Hogan <gregjhogan@gmail.com>
old-commit-hash: 725e3b78ea

selfdrive/car/hyundai/carcontroller.py

@@ -77,9 +77,9 @@ class CarController():
     if pcm_cancel_cmd:
       can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
     elif CS.out.cruiseState.standstill:
-      # send resume at a max freq of 5Hz
+      # send resume at a max freq of 10Hz
-      if (frame - self.last_resume_frame)*DT_CTRL > 0.2:
+      if (frame - self.last_resume_frame)*DT_CTRL > 0.1:
-        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
+        can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 20)
         self.last_resume_frame = frame
 
     # 20 Hz LFA MFA message

selfdrive/car/hyundai/carstate.py

@@ -29,8 +29,8 @@ class CarState(CarStateBase):
     ret.steeringAngle = cp.vl["SAS11"]['SAS_Angle']
     ret.steeringRate = cp.vl["SAS11"]['SAS_Speed']
     ret.yawRate = cp.vl["ESP12"]['YAW_RATE']
-    ret.leftBlinker = cp.vl["CGW1"]['CF_Gway_TSigLHSw'] != 0
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["CGW1"]['CF_Gway_TurnSigLh'],
-    ret.rightBlinker = cp.vl["CGW1"]['CF_Gway_TSigRHSw'] != 0
+                                                            cp.vl["CGW1"]['CF_Gway_TurnSigRh'])
     ret.steeringTorque = cp.vl["MDPS12"]['CR_Mdps_StrColTq']
     ret.steeringTorqueEps = cp.vl["MDPS12"]['CR_Mdps_OutTq']
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
@@ -151,9 +151,7 @@ class CarState(CarStateBase):
       ("CF_Gway_AstDrSw", "CGW1", 0),       # Passenger door
       ("CF_Gway_RLDrSw", "CGW2", 0),        # Rear reft door
       ("CF_Gway_RRDrSw", "CGW2", 0),        # Rear right door
-      ("CF_Gway_TSigLHSw", "CGW1", 0),
       ("CF_Gway_TurnSigLh", "CGW1", 0),
-      ("CF_Gway_TSigRHSw", "CGW1", 0),
       ("CF_Gway_TurnSigRh", "CGW1", 0),
       ("CF_Gway_ParkBrakeSw", "CGW1", 0),
 

selfdrive/car/interfaces.py

@@ -149,9 +149,12 @@ class CarStateBase:
   def __init__(self, CP):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
-    self.cruise_buttons = 0
     self.out = car.CarState.new_message()
 
+    self.cruise_buttons = 0
+    self.left_blinker_cnt = 0
+    self.right_blinker_cnt = 0
+
     # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
     # R = 1e3
     self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
@@ -166,6 +169,11 @@ class CarStateBase:
     v_ego_x = self.v_ego_kf.update(v_ego_raw)
     return float(v_ego_x[0]), float(v_ego_x[1])
 
+  def update_blinker(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
+    self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
+    self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
+    return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
+
   @staticmethod
   def parse_gear_shifter(gear):
     return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,

selfdrive/car/subaru/carstate.py

@@ -10,8 +10,6 @@ from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, PREGLOBAL_CAR
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.left_blinker_cnt = 0
-    self.right_blinker_cnt = 0
     can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
     self.shifter_values = can_define.dv["Transmission"]['Gear']
 
@@ -36,10 +34,8 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw < 0.01
 
     # continuous blinker signals for assisted lane change
-    self.left_blinker_cnt = 50 if cp.vl["Dashlights"]['LEFT_BLINKER'] else max(self.left_blinker_cnt - 1, 0)
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker(50, cp.vl["Dashlights"]['LEFT_BLINKER'],
-    ret.leftBlinker = self.left_blinker_cnt > 0
+                                                            cp.vl["Dashlights"]['RIGHT_BLINKER'])
-    self.right_blinker_cnt = 50 if cp.vl["Dashlights"]['RIGHT_BLINKER'] else max(self.right_blinker_cnt - 1, 0)
-    ret.rightBlinker = self.right_blinker_cnt > 0
 
     ret.leftBlindspot = (cp.vl["BSD_RCTA"]['L_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['L_APPROACHING'] == 1)
     ret.rightBlindspot = (cp.vl["BSD_RCTA"]['R_ADJACENT'] == 1) or (cp.vl["BSD_RCTA"]['R_APPROACHING'] == 1)

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-fe7f0cbcead73a8ee5f91507238b933505bb53de
+2f3615c105ba553bea23fb349b0666a70f27d862