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This commit is contained in:
concordia
2024-02-08 12:46:30 -06:00
parent 7853d218a3
commit 90b8e9f072
5 changed files with 37 additions and 32 deletions
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34
selfdrive/car/hyundai/carcontroller.py
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@@ -64,9 +64,9 @@ class CarController:
actuators = CC.actuators
hud_control = CC.hudControl
hud_v_cruise = hud_control.setSpeed
if hud_v_cruise > 70:
hud_v_cruise = 0
# hud_v_cruise = hud_control.setSpeed
# if hud_v_cruise > 70:
# hud_v_cruise = 0
# steering torque
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
@@ -155,19 +155,19 @@ class CarController:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
# CSLC
if frogpilot_variables.CSLC and frogpilot_variables.CSLCA and CC.enabled and not CS.out.gasPressed: #and CS.cruise_buttons == Buttons.NONE:
if CC.enabled and CC.experimental_mode and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE:
cslcSetSpeed = get_set_speed(self, hud_v_cruise)
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
elif self.frame % 2 == 0:
# 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:
@@ -205,7 +205,7 @@ class CarController:
can_sends = []
if CS.custom_speed_down:
CS.custom_speed_down = False
CS.oscar_lane_center_btn_pressed= False
# Test me.
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, 1, Buttons.RES_ACCEL))
# if self.CP.openpilotLongitudinalControl:
@@ -240,8 +240,10 @@ class CarController:
# cruise standstill resume
elif CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars
pass
# oscar - test me
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))