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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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120
selfdrive/car/hyundai/carstate.py
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@@ -10,9 +10,6 @@ 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
from openpilot.selfdrive.controls.lib.drive_helpers import CRUISE_LONG_PRESS
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
@@ -183,61 +180,14 @@ class CarState(CarStateBase):
if self.prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST
# Driving personalities function
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.fpf.reset_personality_changed_param()
if self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if distance_pressed:
self.distance_pressed_counter += 1
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available and self.CP.flags & HyundaiFlags.CAN_LFA_BTN:
lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
SpeedLimitController.car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_conv
SpeedLimitController.write_car_state()
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_conv)
return ret
@@ -324,61 +274,13 @@ class CarState(CarStateBase):
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"])
# FrogPilot functions
distance_pressed = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
self.prev_distance_button = self.distance_button
self.distance_button = self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0
# Driving personalities function
if ret.cruiseState.available:
# Sync with the onroad UI button
if self.fpf.personality_changed_via_ui:
self.personality_profile = self.fpf.current_personality
self.fpf.reset_personality_changed_param()
self.lkas_previously_enabled = self.lkas_enabled
self.lkas_enabled = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if distance_pressed:
self.distance_pressed_counter += 1
elif self.distance_previously_pressed:
# Set the distance lines on the dash to match the new personality if the button was held down for less than 0.5 seconds
if self.distance_pressed_counter < CRUISE_LONG_PRESS and frogpilot_variables.personalities_via_wheel:
self.personality_profile = (self.personality_profile + 2) % 3
self.fpf.distance_button_function(self.personality_profile)
self.distance_pressed_counter = 0
# Switch the current state of Experimental Mode if the button is held down for 0.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS and frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
# Switch the current state of Traffic Mode if the button is held down for 2.5 seconds
if self.distance_pressed_counter == CRUISE_LONG_PRESS * 5 and frogpilot_variables.traffic_mode:
self.fpf.update_traffic_mode()
# Revert the previous changes to Experimental Mode
if frogpilot_variables.experimental_mode_via_distance:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_distance()
else:
self.fpf.update_experimental_mode()
self.distance_previously_pressed = distance_pressed
# Toggle Experimental Mode from steering wheel function
if frogpilot_variables.experimental_mode_via_lkas and ret.cruiseState.available:
lkas_pressed = cp.vl[self.cruise_btns_msg_canfd]["LKAS_BTN"]
if lkas_pressed and not self.lkas_previously_pressed:
if frogpilot_variables.conditional_experimental_mode:
self.fpf.update_cestatus_lkas()
else:
self.fpf.update_experimental_mode()
self.lkas_previously_pressed = lkas_pressed
SpeedLimitController.car_speed_limit = self.calculate_speed_limit(cp, cp_cam) * speed_factor
SpeedLimitController.write_car_state()
self.params_memory.put_float("CarSpeedLimit", self.calculate_speed_limit(cp, cp_cam) * speed_factor)
return ret