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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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15
selfdrive/car/hyundai/carcontroller.py
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@@ -7,6 +7,7 @@ from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fau
from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
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
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -42,7 +43,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
return sys_warning, sys_state, left_lane_warning, right_lane_warning
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CAN = CanBus(CP)
@@ -131,13 +132,13 @@ class CarController:
can_sends.extend(hyundaicanfd.create_adrv_messages(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, CS.personality_profile))
set_speed_in_units, hud_control))
self.accel_last = accel
else:
# button presses
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, 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))
@@ -150,8 +151,8 @@ class CarController:
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.leadVisible, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available, CS.personality_profile))
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, CS.out.cruiseState.available))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
@@ -177,12 +178,12 @@ class CarController:
can_sends = []
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
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.carFingerprint)] * 25)
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
else: