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2024-05-03 23:24:41 -05:00
parent c41f9a7c5b
commit 8a6926faf3
4 changed files with 21 additions and 8 deletions
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11
selfdrive/car/hyundai/carcontroller.py
View File

@@ -9,6 +9,8 @@ from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
from openpilot.selfdrive.car.interfaces import CarControllerBase
import sys
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -120,10 +122,12 @@ class CarController(CarControllerBase):
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
# if self.frame % 5 == 0 and (not hda2 or hda2_long):
# CLEARPILOT TEST self.CS.lkas_enabled
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CC.latActive))
can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CS.lkas_enabled, CS.lkas_enabled))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -178,6 +182,9 @@ class CarController(CarControllerBase):
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
can_sends = []
sys.stderr.write(str({'use_clu11': use_clu11}) + '\n')
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))

9
selfdrive/car/hyundai/carstate.py
View File

@@ -290,8 +290,13 @@ class CarState(CarStateBase):
nothing = 0
# print('Hello World', file=sys.stderr)
# print(json.dumps(self), file=sys.stderr)
sys.stderr.write(str({k: v for k, v in vars(self).items() if isinstance(v, (int, float, str, bool))}) + '\n')
# sys.stderr.write(str({k: v for k, v in vars(self).items() if isinstance(v, (int, float, str, bool))}) + '\n')
# notes:
# lkas_enabled = 1 = lkas button has been pressed
# prev_cruise_buttons = 0 (none), 1, 2 - up down
# new lane change works perfect
# need to auto disable lat on turn lower than 20 + turn signal as default
self.lkas_enabled = lkas_enabled

2
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -41,7 +41,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
values = {
"LKA_MODE": 2, # CP: Whats this?
"LKA_ICON": 2 if enabled else 1 if lat_active else 0, # CP: Whats this?
"LKA_ICON": 2 if enabled else 1 if lat_active else 0, # right mode icon
"TORQUE_REQUEST": apply_steer,
"LKA_ASSIST": 0,
"STEER_REQ": 1 if lat_active else 0,

7
selfdrive/ui/qt/onroad.cc
View File

@@ -899,9 +899,10 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
// if (bg != bg_colors[STATUS_DISENGAGED]) {
// Use current background color
QLinearGradient edge_gradient;
edge_gradient.setColorAt(0.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255)));
edge_gradient.setColorAt(0.5, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.5)));
edge_gradient.setColorAt(1.0, QColor(bg.red(), bg.green(), bg.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.1)));
QColor test_color = QColor(201, 41, 204, 0xd1);
edge_gradient.setColorAt(0.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255)));
edge_gradient.setColorAt(0.5, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.5)));
edge_gradient.setColorAt(1.0, QColor(test_color.red(), test_color.green(), test_color.blue(), static_cast<int>(OTHER_LANE_ALPHA * 255 * 0.1)));
QPainterPath path;
path.addPolygon(scene.track_vertices);