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89 lines
3.4 KiB
89 lines
3.4 KiB
from cereal import car
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from common.realtime import DT_CTRL
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
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right_lane, left_lane_depart, right_lane_depart):
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sys_warning = (visual_alert == VisualAlert.steerRequired)
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# initialize to no line visible
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sys_state = 1
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if left_lane and right_lane or sys_warning: # HUD alert only display when LKAS status is active
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if enabled or sys_warning:
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sys_state = 3
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else:
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sys_state = 4
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elif left_lane:
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sys_state = 5
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elif right_lane:
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sys_state = 6
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# initialize to no warnings
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left_lane_warning = 0
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right_lane_warning = 0
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if left_lane_depart:
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left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
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if right_lane_depart:
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right_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
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return sys_warning, sys_state, left_lane_warning, right_lane_warning
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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self.last_resume_frame = 0
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self.p = SteerLimitParams(CP)
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
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left_lane, right_lane, left_lane_depart, right_lane_depart):
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# Steering Torque
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new_steer = actuators.steer * self.p.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
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self.steer_rate_limited = new_steer != apply_steer
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# disable if steer angle reach 90 deg, otherwise mdps fault in some models
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lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
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# fix for Genesis hard fault at low speed
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if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
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lkas_active = False
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if not lkas_active:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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sys_warning, sys_state, left_lane_warning, right_lane_warning =\
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process_hud_alert(enabled, self.car_fingerprint, visual_alert,
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left_lane, right_lane, left_lane_depart, right_lane_depart)
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can_sends = []
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can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
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CS.lkas11, sys_warning, sys_state, enabled,
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left_lane, right_lane,
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left_lane_warning, right_lane_warning))
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill:
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# send resume at a max freq of 10Hz
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if (frame - self.last_resume_frame)*DT_CTRL > 0.1:
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can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 20)
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self.last_resume_frame = frame
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ]:
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can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
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return can_sends
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