From 2e7fa330b346b6435d0b15524f3b5ce878d213de Mon Sep 17 00:00:00 2001 From: Greg Hogan Date: Sat, 8 Oct 2022 04:07:35 -0700 Subject: [PATCH] hyundai: fix logging stock AEB events (#25152) --- selfdrive/car/hyundai/carstate.py | 16 ++++++++++------ 1 file changed, 10 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py index b9c7327a93..1f2de3286e 100644 --- a/selfdrive/car/hyundai/carstate.py +++ b/selfdrive/car/hyundai/carstate.py @@ -126,12 +126,12 @@ class CarState(CarStateBase): ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) if not self.CP.openpilotLongitudinalControl: - if self.CP.carFingerprint in FEATURES["use_fca"]: - ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0 - ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2 - else: - ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0 - ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2 + aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12" + aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct" + aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 + aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 + ret.stockFcw = aeb_warning and not aeb_braking + ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 @@ -294,12 +294,14 @@ class CarState(CarStateBase): signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), + ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), + ("CF_VSM_DecCmdAct", "SCC12"), ] if CP.enableBsm: @@ -383,12 +385,14 @@ class CarState(CarStateBase): signals += [ ("FCA_CmdAct", "FCA11"), ("CF_VSM_Warn", "FCA11"), + ("CF_VSM_DecCmdAct", "FCA11"), ] checks.append(("FCA11", 50)) else: signals += [ ("AEB_CmdAct", "SCC12"), ("CF_VSM_Warn", "SCC12"), + ("CF_VSM_DecCmdAct", "SCC12"), ] return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)