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2024-05-21 00:29:31 -05:00
parent dd96b5aea7
commit b3467cf739
3 changed files with 44 additions and 9 deletions
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8
selfdrive/car/hyundai/carcontroller.py
View File

@@ -134,12 +134,16 @@ class CarController(CarControllerBase):
# params_memory = Params("/dev/shm/params")
params_memory = Params("/dev/shm/params")
if params_memory.get_bool("CPTLkasButtonAction"):
if self.frame % 2 == 0:
can_sends.append(hyundaicanfd.create_acc_control_alt(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control))
self.accel_last = accel
# if self.frame % 10 == 0:
# for _ in range(20):
# can_sends.append(hyundaicanfd.create_buttons_alt(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.SET_DECEL, CS.cruise_can_msg))
print("Decel")
# print("Decel")
# can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
# can_sends.append(hyundaicanfd.create_acc_set_speed(self.packer, self.CP, self.CAN, CS.cruise_info, 50))
# can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
# print("Debug cancel executed")

31
selfdrive/car/hyundai/hyundaicanfd.py
View File

@@ -275,6 +275,37 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_acc_control_alt(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control):
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
a_val, a_raw = 0, 0
else:
a_raw = accel
a_val = clip(accel, accel_last - jn, accel_last + jn)
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1,
"StopReq": 1 if stopping else 0,
"aReqValue": a_val,
"aReqRaw": a_raw,
"VSetDis": set_speed,
"JerkLowerLimit": jerk if enabled else 1,
"JerkUpperLimit": 3.0,
"ACC_ObjDist": 1,
"ObjValid": 0,
"OBJ_STATUS": 2,
"SET_ME_2": 0x4,
"SET_ME_3": 0x3,
"SET_ME_TMP_64": 0x64,
"DISTANCE_SETTING": hud_control.leadDistanceBars,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
# Disabled blinker messages
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = []

14
selfdrive/controls/controlsd.py
View File

@@ -1133,13 +1133,13 @@ class Controls:
self.drive_added = True
# Clearpilot - todo: override conditional on cruise button tap
# if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents) and self.experimental_mode_via_lkas:
# if self.frogpilot_variables.conditional_experimental_mode:
# conditional_status = self.params_memory.get_int("CEStatus")
# override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
# self.params_memory.put_int("CEStatus", override_value)
# else:
# self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
if any(be.pressed and be.type == FrogPilotButtonType.lkas for be in CS.buttonEvents) and self.experimental_mode_via_lkas:
if self.frogpilot_variables.conditional_experimental_mode:
conditional_status = self.params_memory.get_int("CEStatus")
override_value = 0 if conditional_status in {1, 2, 3, 4, 5, 6} else 3 if conditional_status >= 7 else 4
self.params_memory.put_int("CEStatus", override_value)
else:
self.params.put_bool_nonblocking("ExperimentalMode", not self.experimental_mode)
self.previously_enabled |= (self.enabled or self.FPCC.alwaysOnLateral) and CS.vEgo > CRUISING_SPEED
self.previously_enabled &= self.driving_gear