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2024-02-08 14:50:44 -06:00
parent 88785baa11
commit 8d971f0671
1 changed files with 26 additions and 19 deletions
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45
selfdrive/car/hyundai/carcontroller.py
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@@ -154,25 +154,7 @@ class CarController:
if not self.CP.openpilotLongitudinalControl:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
# CSLC
if 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 = set_speed_in_units
self.cruise_button = get_cslc_button(self, cslcSetSpeed, CS)
if self.cruise_button != Buttons.NONE:
# if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
# send_freq = 1
# # send resume at a max freq of 10Hz
# if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq:
# # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
# can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
# if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
# self.last_button_frame = self.frame
if self.frame % 2 == 0:
if self.CP.carFingerprint in CANFD_CAR:
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, self.cruise_button))
else:
can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
if not self.CP.openpilotLongitudinalControl and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
# TODO: unclear if this is needed
@@ -194,6 +176,30 @@ class CarController:
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
# CSLC
# 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 = set_speed_in_units
# self.cruise_button = get_cslc_button(self, cslcSetSpeed, CS)
# if self.cruise_button != Buttons.NONE:
# # if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
# # send_freq = 1
# # # send resume at a max freq of 10Hz
# # if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq:
# # # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
# # can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
# # if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
# # self.last_button_frame = self.frame
# if self.frame % 2 == 0:
# if self.CP.carFingerprint in CANFD_CAR:
# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, self.cruise_button))
# else:
# can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
# Test
if CS.cruise_buttons == Buttons.NONE and CS.cruiseState.enabled:
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, Buttons.SET_DECEL))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / self.params.STEER_MAX
new_actuators.steerOutputCan = apply_steer
@@ -208,6 +214,7 @@ class CarController:
if CS.oscar_lane_center_btn_pressed:
CS.oscar_lane_center_btn_pressed= False
CC.cruiseControl.resume = True
floog = floorp
# Test me.
# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, 1, Buttons.RES_ACCEL))
# if self.CP.openpilotLongitudinalControl: