Hyundai-Kia-Genesis (HKG) (#1362)
* hkg
* Cleanup
* Update readme
* more fixes and cleanup
* Old genesis
* Typoe
* Test car models
* Update comment
* Fix brake pressed
* Update release notes
* Fix vEgo
* Add sonata
* Add sonata values
* Temporarily remove doors check. It doesn't work
* Sonata uses crc8
* Fix tests
* Changes for LFA
* Add comment
* Does this improve the hud?
* Proper signal name
* Force the right value
* some ui stuff
* more comments
* Show lane lines on sonata
* cleanup dash
* fix last ui issues
* Fix doors
* update CI
Co-authored-by: Comma Device <device@comma.ai>
old-commit-hash: 7d78cef34b
commatwo_master
Willem Melching
6 years ago
committed by
GitHub
parent
7c565bfd27
commit
c9ec2cbec6
13 changed files with 515 additions and 179 deletions
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Subproject commit a57e7ddbd72c92241d5d6442da9d47c55e95a8cf |
Subproject commit b69398525a4f3d590305df171572415568e365aa |
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@ -1 +1 @@ |
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Subproject commit bc90b60f973ddf422ea78ce8fb83fbf88448694f |
Subproject commit 435cabe7f7a02a0c732725b97cbb7192a68a406d |
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@ -1,47 +1,103 @@ |
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from cereal import car |
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from selfdrive.car import apply_std_steer_torque_limits |
from selfdrive.car import apply_std_steer_torque_limits |
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11 |
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 |
from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR |
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from opendbc.can.packer import CANPacker |
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(): |
class CarController(): |
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def __init__(self, dbc_name, CP, VM): |
def __init__(self, dbc_name, CP, VM): |
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self.apply_steer_last = 0 |
self.apply_steer_last = 0 |
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self.car_fingerprint = CP.carFingerprint |
self.car_fingerprint = CP.carFingerprint |
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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) |
self.packer = CANPacker(dbc_name) |
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self.steer_rate_limited = False |
self.steer_rate_limited = False |
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self.resume_cnt = 0 |
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self.last_resume_frame = 0 |
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self.last_lead_distance = 0 |
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def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert): |
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 |
# Steering Torque |
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new_steer = actuators.steer * SteerLimitParams.STEER_MAX |
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.out.steeringTorque, SteerLimitParams) |
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams) |
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self.steer_rate_limited = new_steer != apply_steer |
self.steer_rate_limited = new_steer != apply_steer |
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if not enabled: |
# disable if steer angle reach 90 deg, otherwise mdps fault in some models |
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apply_steer = 0 |
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 = 0 |
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steer_req = 1 if enabled else 0 |
if not lkas_active: |
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apply_steer = 0 |
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self.apply_steer_last = apply_steer |
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 = [] |
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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self.lkas11_cnt = self.cnt % 0x10 |
if pcm_cancel_cmd: |
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self.clu11_cnt = self.cnt % 0x10 |
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL)) |
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can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt, |
elif CS.out.cruiseState.standstill: |
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enabled, CS.lkas11, hud_alert, keep_stock=True)) |
# run only first time when the car stopped |
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if self.last_lead_distance == 0: |
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# get the lead distance from the Radar |
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self.last_lead_distance = CS.lead_distance |
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self.resume_cnt = 0 |
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# when lead car starts moving, create 6 RES msgs |
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elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5: |
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)) |
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self.resume_cnt += 1 |
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# interval after 6 msgs |
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if self.resume_cnt > 5: |
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self.last_resume_frame = frame |
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self.clu11_cnt = 0 |
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# reset lead distnce after the car starts moving |
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elif self.last_lead_distance != 0: |
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self.last_lead_distance = 0 |
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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.out.cruiseState.standstill 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 |
# 20 Hz LFA MFA message |
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if frame % 5 == 0 and self.car_fingerprint == CAR.SONATA: |
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can_sends.append(create_lfa_mfa(self.packer, frame, enabled)) |
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return can_sends |
return can_sends |
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@ -1,5 +1,77 @@ |
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#!/usr/bin/env python3 |
#!/usr/bin/env python3 |
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import os |
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import time |
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from cereal import car |
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from opendbc.can.parser import CANParser |
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from selfdrive.car.interfaces import RadarInterfaceBase |
from selfdrive.car.interfaces import RadarInterfaceBase |
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from selfdrive.car.hyundai.values import DBC |
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def get_radar_can_parser(CP): |
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signals = [ |
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# sig_name, sig_address, default |
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("ACC_ObjStatus", "SCC11", 0), |
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("ACC_ObjLatPos", "SCC11", 0), |
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("ACC_ObjDist", "SCC11", 0), |
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("ACC_ObjRelSpd", "SCC11", 0), |
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] |
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checks = [ |
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# address, frequency |
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("SCC11", 50), |
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] |
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0) |
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class RadarInterface(RadarInterfaceBase): |
class RadarInterface(RadarInterfaceBase): |
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pass |
def __init__(self, CP): |
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# radar |
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self.pts = {} |
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self.delay = 0 # Delay of radar |
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self.rcp = get_radar_can_parser(CP) |
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self.updated_messages = set() |
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self.trigger_msg = 0x420 |
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self.track_id = 0 |
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self.radar_off_can = CP.radarOffCan |
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def update(self, can_strings): |
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if self.radar_off_can: |
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if 'NO_RADAR_SLEEP' not in os.environ: |
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time.sleep(0.05) # radard runs on RI updates |
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return car.RadarData.new_message() |
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vls = self.rcp.update_strings(can_strings) |
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self.updated_messages.update(vls) |
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if self.trigger_msg not in self.updated_messages: |
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return None |
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rr = self._update(self.updated_messages) |
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self.updated_messages.clear() |
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return rr |
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def _update(self, updated_messages): |
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ret = car.RadarData.new_message() |
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cpt = self.rcp.vl |
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errors = [] |
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if not self.rcp.can_valid: |
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errors.append("canError") |
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ret.errors = errors |
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valid = cpt["SCC11"]['ACC_ObjStatus'] |
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if valid: |
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for ii in range(2): |
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if ii not in self.pts: |
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self.pts[ii] = car.RadarData.RadarPoint.new_message() |
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self.pts[ii].trackId = self.track_id |
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self.track_id += 1 |
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self.pts[ii].dRel = cpt["SCC11"]['ACC_ObjDist'] # from front of car |
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self.pts[ii].yRel = -cpt["SCC11"]['ACC_ObjLatPos'] # in car frame's y axis, left is negative |
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self.pts[ii].vRel = cpt["SCC11"]['ACC_ObjRelSpd'] |
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self.pts[ii].aRel = float('nan') |
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self.pts[ii].yvRel = float('nan') |
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self.pts[ii].measured = True |
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ret.points = list(self.pts.values()) |
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return ret |
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@ -1 +1 @@ |
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3523742130b9e0554bab4ac5bc5ab535f1342e90 |
9638f1d5495e92b2d633a193f00a65f8268b170c |
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