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2024-02-12 14:36:04 -06:00
parent 829b75411b
commit 2236323030
1 changed files with 17 additions and 13 deletions
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30
selfdrive/car/hyundai/carcontroller.py
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@@ -59,6 +59,7 @@ class CarController:
self.apply_steer_last = 0 self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0 self.last_button_frame = 0
self.last_resume_frame = 0
def update(self, CC, CS, now_nanos, sport_plus): def update(self, CC, CS, now_nanos, sport_plus):
actuators = CC.actuators actuators = CC.actuators
@@ -241,9 +242,9 @@ class CarController:
# Test this... # Test this...
# Also try create_acc_commands # Also try create_acc_commands
# This attempts to set the speed to # This attempts to set the speed to
stopping = CC.actuators.longControlState == LongCtrlState.stopping # stopping = CC.actuators.longControlState == LongCtrlState.stopping
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, CC.actuators.accel, stopping, CC.cruiseControl.override, # can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, CC.actuators.accel, stopping, CC.cruiseControl.override,
40, CS.personality_profile)) # 40, CS.personality_profile))
# cruise cancel # cruise cancel
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
@@ -257,18 +258,21 @@ class CarController:
# cruise standstill resume # cruise standstill resume
elif CC.cruiseControl.resume: elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: if (self.frame - self.last_button_frame) * DT_CTRL > 4:
# oscar - test me if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
for _ in range(20): # for _ in range(20):
# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) nothing = 0
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) # Nothing for now --?
self.last_button_frame = self.frame # oscar - test me
else: # can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
for _ in range(20): # can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame self.last_button_frame = self.frame
self.last_resume_frame = self.frame
elif set_speed_in_units is not None and not self.CP.openpilotLongitudinalControl and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE: elif set_speed_in_units is not None and not self.CP.openpilotLongitudinalControl and CS.cruiseState.enabled and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
# if False and not self.CP.openpilotLongitudinalControl and CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE: # if False and not self.CP.openpilotLongitudinalControl and CC.enabled and CC.experimental_mode and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
# # cslcSetSpeed = get_set_speed(self, hud_v_cruise) # # cslcSetSpeed = get_set_speed(self, hud_v_cruise)
cslcSetSpeed = set_speed_in_units cslcSetSpeed = set_speed_in_units