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122 lines
5.3 KiB
122 lines
5.3 KiB
from cereal import car
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from common.realtime import DT_CTRL
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from common.numpy_fast import clip, interp
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from common.conversions import Conversions as CV
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfahda_mfc, create_acc_commands, create_acc_opt, create_frt_radar_opt
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from selfdrive.car.hyundai.values import Buttons, CarControllerParams, CAR
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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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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 in (VisualAlert.steerRequired, VisualAlert.ldw))
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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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sys_state = 3 if enabled or sys_warning else 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():
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def __init__(self, dbc_name, CP, VM):
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self.p = CarControllerParams(CP)
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self.packer = CANPacker(dbc_name)
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self.apply_steer_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.steer_rate_limited = False
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self.last_resume_frame = 0
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self.accel = 0
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def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
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left_lane, right_lane, left_lane_depart, right_lane_depart):
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# Steering Torque
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new_steer = int(round(actuators.steer * self.p.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
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self.steer_rate_limited = new_steer != apply_steer
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if not c.latActive:
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apply_steer = 0
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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(c.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 = []
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# tester present - w/ no response (keeps radar disabled)
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if CS.CP.openpilotLongitudinalControl:
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if (frame % 100) == 0:
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can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
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can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, c.latActive,
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CS.lkas11, sys_warning, sys_state, c.enabled,
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left_lane, right_lane,
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left_lane_warning, right_lane_warning))
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if not CS.CP.openpilotLongitudinalControl:
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill:
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# send resume at a max freq of 10Hz
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if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
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# send 25 messages at a time to increases the likelihood of resume being accepted
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can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
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self.last_resume_frame = frame
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if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
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lead_visible = False
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accel = actuators.accel if c.longActive else 0
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jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
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if accel < 0:
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accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel])
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accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
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stopping = (actuators.longControlState == LongCtrlState.stopping)
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set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
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can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping))
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self.accel = accel
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# 20 Hz LFA MFA message
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if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
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CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
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CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
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CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
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can_sends.append(create_lfahda_mfc(self.packer, c.enabled))
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# 5 Hz ACC options
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if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:
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can_sends.extend(create_acc_opt(self.packer))
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# 2 Hz front radar options
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if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
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can_sends.append(create_frt_radar_opt(self.packer))
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new_actuators = actuators.copy()
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new_actuators.steer = apply_steer / self.p.STEER_MAX
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new_actuators.accel = self.accel
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return new_actuators, can_sends
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