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