You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
216 lines
10 KiB
216 lines
10 KiB
import numpy as np
|
|
from opendbc.can.packer import CANPacker
|
|
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs
|
|
from opendbc.car.common.conversions import Conversions as CV
|
|
from opendbc.car.hyundai import hyundaicanfd, hyundaican
|
|
from opendbc.car.hyundai.hyundaicanfd import CanBus
|
|
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR
|
|
from opendbc.car.interfaces import CarControllerBase
|
|
|
|
VisualAlert = structs.CarControl.HUDControl.VisualAlert
|
|
LongCtrlState = structs.CarControl.Actuators.LongControlState
|
|
|
|
# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
|
|
# All slightly below EPS thresholds to avoid fault
|
|
MAX_ANGLE = 85
|
|
MAX_ANGLE_FRAMES = 89
|
|
MAX_ANGLE_CONSECUTIVE_FRAMES = 2
|
|
|
|
|
|
def process_hud_alert(enabled, fingerprint, hud_control):
|
|
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
|
|
|
|
# initialize to no line visible
|
|
# TODO: this is not accurate for all cars
|
|
sys_state = 1
|
|
if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active
|
|
sys_state = 3 if enabled or sys_warning else 4
|
|
elif hud_control.leftLaneVisible:
|
|
sys_state = 5
|
|
elif hud_control.rightLaneVisible:
|
|
sys_state = 6
|
|
|
|
# initialize to no warnings
|
|
left_lane_warning = 0
|
|
right_lane_warning = 0
|
|
if hud_control.leftLaneDepart:
|
|
left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
|
|
if hud_control.rightLaneDepart:
|
|
right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
|
|
|
|
return sys_warning, sys_state, left_lane_warning, right_lane_warning
|
|
|
|
|
|
class CarController(CarControllerBase):
|
|
def __init__(self, dbc_names, CP):
|
|
super().__init__(dbc_names, CP)
|
|
self.CAN = CanBus(CP)
|
|
self.params = CarControllerParams(CP)
|
|
self.packer = CANPacker(dbc_names[Bus.pt])
|
|
self.angle_limit_counter = 0
|
|
|
|
self.accel_last = 0
|
|
self.apply_torque_last = 0
|
|
self.car_fingerprint = CP.carFingerprint
|
|
self.last_button_frame = 0
|
|
|
|
def update(self, CC, CS, now_nanos):
|
|
actuators = CC.actuators
|
|
hud_control = CC.hudControl
|
|
|
|
# steering torque
|
|
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
|
|
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
|
|
|
|
# >90 degree steering fault prevention
|
|
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
|
|
self.angle_limit_counter, MAX_ANGLE_FRAMES,
|
|
MAX_ANGLE_CONSECUTIVE_FRAMES)
|
|
|
|
if not CC.latActive:
|
|
apply_torque = 0
|
|
|
|
# Hold torque with induced temporary fault when cutting the actuation bit
|
|
# FIXME: we don't use this with CAN FD?
|
|
torque_fault = CC.latActive and not apply_steer_req
|
|
|
|
self.apply_torque_last = apply_torque
|
|
|
|
# accel + longitudinal
|
|
accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
|
|
stopping = actuators.longControlState == LongCtrlState.stopping
|
|
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
|
|
|
|
can_sends = []
|
|
|
|
# *** common hyundai stuff ***
|
|
|
|
# tester present - w/ no response (keeps relevant ECU disabled)
|
|
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
|
|
# for longitudinal control, either radar or ADAS driving ECU
|
|
addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0
|
|
if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
|
|
addr, bus = 0x730, self.CAN.ECAN
|
|
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
|
|
|
|
# for blinkers
|
|
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
|
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
|
|
|
|
# *** CAN/CAN FD specific ***
|
|
if self.CP.flags & HyundaiFlags.CANFD:
|
|
can_sends.extend(self.create_canfd_msgs(apply_steer_req, apply_torque, set_speed_in_units, accel,
|
|
stopping, hud_control, CS, CC))
|
|
else:
|
|
can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
|
|
stopping, hud_control, actuators, CS, CC))
|
|
|
|
new_actuators = actuators.as_builder()
|
|
new_actuators.torque = apply_torque / self.params.STEER_MAX
|
|
new_actuators.torqueOutputCan = apply_torque
|
|
new_actuators.accel = accel
|
|
|
|
self.frame += 1
|
|
return new_actuators, can_sends
|
|
|
|
def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC):
|
|
can_sends = []
|
|
|
|
# HUD messages
|
|
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
|
|
hud_control)
|
|
|
|
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
|
|
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
|
|
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
|
left_lane_warning, right_lane_warning))
|
|
|
|
# Button messages
|
|
if not self.CP.openpilotLongitudinalControl:
|
|
if CC.cruiseControl.cancel:
|
|
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
|
|
elif CC.cruiseControl.resume:
|
|
# send resume at a max freq of 10Hz
|
|
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
|
|
# send 25 messages at a time to increases the likelihood of resume being accepted
|
|
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
|
|
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
|
|
self.last_button_frame = self.frame
|
|
|
|
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
|
|
# TODO: unclear if this is needed
|
|
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
|
|
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
|
|
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
|
|
hud_control, set_speed_in_units, stopping,
|
|
CC.cruiseControl.override, use_fca, self.CP))
|
|
|
|
# 20 Hz LFA MFA message
|
|
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
|
|
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
|
|
|
|
# 5 Hz ACC options
|
|
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
|
|
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
|
|
|
|
# 2 Hz front radar options
|
|
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
|
|
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
|
|
|
|
return can_sends
|
|
|
|
def create_canfd_msgs(self, apply_steer_req, apply_torque, set_speed_in_units, accel, stopping, hud_control, CS, CC):
|
|
can_sends = []
|
|
|
|
lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
|
|
lka_steering_long = lka_steering and self.CP.openpilotLongitudinalControl
|
|
|
|
# steering control
|
|
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque))
|
|
|
|
# prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
|
|
if self.frame % 5 == 0 and lka_steering:
|
|
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
|
|
self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT))
|
|
|
|
# LFA and HDA icons
|
|
if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
|
|
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
|
|
|
|
# blinkers
|
|
if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
|
|
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, CC.leftBlinker, CC.rightBlinker))
|
|
|
|
if self.CP.openpilotLongitudinalControl:
|
|
if lka_steering:
|
|
can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
|
|
else:
|
|
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
|
|
if self.frame % 2 == 0:
|
|
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
|
|
set_speed_in_units, hud_control))
|
|
self.accel_last = accel
|
|
else:
|
|
# button presses
|
|
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
|
|
# cruise cancel
|
|
if CC.cruiseControl.cancel:
|
|
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
|
can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
|
|
self.last_button_frame = self.frame
|
|
else:
|
|
for _ in range(20):
|
|
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.CANCEL))
|
|
self.last_button_frame = self.frame
|
|
|
|
# cruise standstill resume
|
|
elif CC.cruiseControl.resume:
|
|
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
|
|
# TODO: resume for alt button cars
|
|
pass
|
|
else:
|
|
for _ in range(20):
|
|
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.RES_ACCEL))
|
|
self.last_button_frame = self.frame
|
|
|
|
return can_sends
|
|
|