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48 lines
1.6 KiB
48 lines
1.6 KiB
5 years ago
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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
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
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from opendbc.can.packer import CANPacker
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class CarController():
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def __init__(self, dbc_name, car_fingerprint):
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self.apply_steer_last = 0
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self.car_fingerprint = car_fingerprint
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self.lkas11_cnt = 0
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self.cnt = 0
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self.last_resume_cnt = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
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### Steering Torque
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new_steer = actuators.steer * SteerLimitParams.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
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self.steer_rate_limited = new_steer != apply_steer
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if not enabled:
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apply_steer = 0
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steer_req = 1 if enabled else 0
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self.apply_steer_last = apply_steer
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can_sends = []
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self.lkas11_cnt = self.cnt % 0x10
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self.clu11_cnt = self.cnt % 0x10
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can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
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enabled, CS.lkas11, hud_alert, keep_stock=True))
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
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elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
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self.last_resume_cnt = self.cnt
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
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self.cnt += 1
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return can_sends
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