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380 lines
16 KiB
380 lines
16 KiB
from collections import deque
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import copy
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import math
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from opendbc.can.parser import CANParser
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from opendbc.can.can_define import CANDefine
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from openpilot.selfdrive.car import create_button_events, structs
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from openpilot.selfdrive.car.common.conversions import Conversions as CV
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from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
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from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
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CANFD_CAR, Buttons, CarControllerParams
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from openpilot.selfdrive.car.interfaces import CarStateBase
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ButtonType = structs.CarState.ButtonEvent.Type
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PREV_BUTTON_SAMPLES = 8
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CLUSTER_SAMPLE_RATE = 20 # frames
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STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
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BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
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Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
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self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
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self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
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self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
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"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
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"GEAR_SHIFTER"
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if CP.carFingerprint in CANFD_CAR:
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self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
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elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
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self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
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elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
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self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
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else: # preferred and elect gear methods use same definition
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self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
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self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
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"ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \
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"ACCELERATOR_BRAKE_ALT"
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self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
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"CRUISE_BUTTONS"
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self.is_metric = False
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self.buttons_counter = 0
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self.cruise_info = {}
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# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
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self.cluster_speed = 0
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self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
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self.params = CarControllerParams(CP)
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def update(self, cp, cp_cam, *_) -> structs.CarState:
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if self.CP.carFingerprint in CANFD_CAR:
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return self.update_canfd(cp, cp_cam)
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ret = structs.CarState()
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cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
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self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
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speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
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ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
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cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
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ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
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cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
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cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
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cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
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)
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
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self.cluster_speed_counter += 1
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if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
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self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
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self.cluster_speed_counter = 0
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# Mimic how dash converts to imperial.
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# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
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# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
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if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
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self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
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ret.vEgoCluster = self.cluster_speed * speed_conv
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ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
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ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
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ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
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50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
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ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
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ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
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ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
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# cruise state
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if self.CP.openpilotLongitudinalControl:
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# These are not used for engage/disengage since openpilot keeps track of state using the buttons
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ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
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ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
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ret.cruiseState.standstill = False
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ret.cruiseState.nonAdaptive = False
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else:
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ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
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ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
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ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
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ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
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ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
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# TODO: Find brake pressure
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ret.brake = 0
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ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
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ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
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ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
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ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
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ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
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ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
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if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
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if self.CP.flags & HyundaiFlags.HYBRID:
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ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
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else:
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ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
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ret.gasPressed = ret.gas > 0
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else:
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ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
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ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
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# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
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# as this seems to be standard over all cars, but is not the preferred method.
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if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
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gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
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elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
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gear = cp.vl["CLU15"]["CF_Clu_Gear"]
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elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
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gear = cp.vl["TCU12"]["CUR_GR"]
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else:
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gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
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if not self.CP.openpilotLongitudinalControl:
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aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
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aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
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aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
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scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
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aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
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ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
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ret.stockAeb = aeb_warning and aeb_braking
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
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ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
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# save the entire LKAS11 and CLU11
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self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
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self.clu11 = copy.copy(cp.vl["CLU11"])
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self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
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prev_cruise_buttons = self.cruise_buttons[-1]
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self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
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self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
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if self.CP.openpilotLongitudinalControl:
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ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
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return ret
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def update_canfd(self, cp, cp_cam) -> structs.CarState:
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ret = structs.CarState()
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self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
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speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
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if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
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offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023.
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ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
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ret.gasPressed = ret.gas > 1e-5
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else:
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ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
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ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
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ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
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ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
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gear = cp.vl[self.gear_msg_canfd]["GEAR"]
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ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
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# TODO: figure out positions
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ret.wheelSpeeds = self.get_wheel_speeds(
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
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cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
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)
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ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
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ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
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ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
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ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
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ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
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ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
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ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
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# TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP']
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left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP"
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if self.CP.carFingerprint == CAR.HYUNDAI_KONA_EV_2ND_GEN:
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left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT"
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
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cp.vl["BLINKERS"][right_blinker_sig])
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if self.CP.enableBsm:
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ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
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ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
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# cruise state
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# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
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ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
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if self.CP.openpilotLongitudinalControl:
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# These are not used for engage/disengage since openpilot keeps track of state using the buttons
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ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
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ret.cruiseState.standstill = False
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else:
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cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
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ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
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ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
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ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
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self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
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# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
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# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
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# The car will brake, but does not respect positive acceleration commands in this mode
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# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
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if self.CP.flags & HyundaiFlags.EV:
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ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
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prev_cruise_buttons = self.cruise_buttons[-1]
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self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
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self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
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self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
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ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
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if self.CP.flags & HyundaiFlags.CANFD_HDA2:
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self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
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else cp_cam.vl["CAM_0x2a4"])
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if self.CP.openpilotLongitudinalControl:
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ret.buttonEvents = create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT)
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return ret
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def get_can_parser(self, CP):
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if CP.carFingerprint in CANFD_CAR:
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return self.get_can_parser_canfd(CP)
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messages = [
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# address, frequency
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("MDPS12", 50),
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("TCS11", 100),
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("TCS13", 50),
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("TCS15", 10),
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("CLU11", 50),
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("CLU15", 5),
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("ESP12", 100),
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("CGW1", 10),
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("CGW2", 5),
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("CGW4", 5),
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("WHL_SPD11", 50),
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("SAS11", 100),
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]
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if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
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messages += [
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("SCC11", 50),
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("SCC12", 50),
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]
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if CP.flags & HyundaiFlags.USE_FCA.value:
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messages.append(("FCA11", 50))
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if CP.enableBsm:
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messages.append(("LCA11", 50))
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if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
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messages.append(("E_EMS11", 50))
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else:
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messages += [
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("EMS12", 100),
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("EMS16", 100),
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]
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if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
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messages.append(("ELECT_GEAR", 20))
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elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
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pass
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elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
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messages.append(("TCU12", 100))
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else:
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messages.append(("LVR12", 100))
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
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@staticmethod
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def get_cam_can_parser(CP):
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if CP.carFingerprint in CANFD_CAR:
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return CarState.get_cam_can_parser_canfd(CP)
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messages = [
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("LKAS11", 100)
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]
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if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
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messages += [
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("SCC11", 50),
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("SCC12", 50),
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]
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if CP.flags & HyundaiFlags.USE_FCA.value:
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messages.append(("FCA11", 50))
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return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
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def get_can_parser_canfd(self, CP):
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messages = [
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(self.gear_msg_canfd, 100),
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(self.accelerator_msg_canfd, 100),
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("WHEEL_SPEEDS", 100),
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("STEERING_SENSORS", 100),
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("MDPS", 100),
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("TCS", 50),
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("CRUISE_BUTTONS_ALT", 50),
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|
("BLINKERS", 4),
|
|
("DOORS_SEATBELTS", 4),
|
|
]
|
|
|
|
if CP.flags & HyundaiFlags.EV:
|
|
messages += [
|
|
("MANUAL_SPEED_LIMIT_ASSIST", 10),
|
|
]
|
|
|
|
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
|
|
messages += [
|
|
("CRUISE_BUTTONS", 50)
|
|
]
|
|
|
|
if CP.enableBsm:
|
|
messages += [
|
|
("BLINDSPOTS_REAR_CORNERS", 20),
|
|
]
|
|
|
|
if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
|
|
messages += [
|
|
("SCC_CONTROL", 50),
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
|
|
|
|
@staticmethod
|
|
def get_cam_can_parser_canfd(CP):
|
|
messages = []
|
|
if CP.flags & HyundaiFlags.CANFD_HDA2:
|
|
block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4"
|
|
messages += [(block_lfa_msg, 20)]
|
|
elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
|
|
messages += [
|
|
("SCC_CONTROL", 50),
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
|
|
|