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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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3
common/params.cc
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@@ -246,7 +246,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CurrentRandomEvent", PERSISTENT},
{"CSLCAvailable", PERSISTENT},
{"CSLCEnabled", PERSISTENT},
{"CSLCSpeed", PERSISTENT},
{"CSLCSetSpeed", PERSISTENT},
{"CSLCTempSpeed", PERSISTENT},
{"CurveSensitivity", PERSISTENT},
{"CustomColors", PERSISTENT},
{"CustomIcons", PERSISTENT},

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))

13
selfdrive/car/hyundai/carstate.py
View File

@@ -169,11 +169,12 @@ class CarState(CarStateBase):
self.main_enabled = not self.main_enabled
# BBot functions for lfa and gap buttons - test speed up / down
self.custom_speed_up = False
self.custom_speed_down = False
self.oscar_lane_center_btn_pressed= False
self.oscar_slc_decel = False
self.oscar_slc_accel = False
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.custom_speed_down = True
# self.oscar_lane_center_btn_pressed= True
# lkas_pressed = cp.vl["BCM_PO_11"]["LFA_Pressed"]
# if lkas_pressed and not self.lkas_previously_pressed:
@@ -301,15 +302,15 @@ class CarState(CarStateBase):
SpeedLimitController.write_car_state()
self.custom_speed_up = False
self.custom_speed_down = False
self.oscar_lane_center_btn_pressed = False
if ret.cruiseState.available:
if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
self.custom_speed_down = True
self.oscar_lane_center_btn_pressed = True
# if self.cruise_buttons[-1] == Buttons.GAP_DIST and self.prev_cruise_buttons == 0:
# self.custom_speed_down = True
# self.oscar_lane_center_btn_pressed= True
# lkas_pressed = cp.vl_all[self.cruise_btns_msg_canfd]["LKAS_BTN"]
# if lkas_pressed and not self.lkas_previously_pressed:

7
selfdrive/controls/controlsd.py
View File

@@ -604,7 +604,8 @@ class Controls:
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_helper.initialize_v_cruise(CS, self.frogpilot_variables, self.experimental_mode, self.conditional_experimental_mode)
self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode, self.conditional_experimental_mode)
# self.v_cruise_helper.initialize_v_cruise(CS, self.frogpilot_variables, self.experimental_mode, self.conditional_experimental_mode)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
@@ -1002,8 +1003,8 @@ class Controls:
self.average_desired_curvature = self.params.get_bool("AverageCurvature")
self.conditional_experimental_mode = self.params.get_bool("ConditionalExperimental")
self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled")
self.frogpilot_variables.CSLCA = self.params.get_bool("CSLCAvailable")
# self.frogpilot_variables.CSLC = self.params.get_bool("CSLCEnabled")
# self.frogpilot_variables.CSLCA = self.params.get_bool("CSLCAvailable")
custom_theme = self.params.get_bool("CustomTheme")
custom_sounds = self.params.get_int("CustomSounds") if custom_theme else 0

12
selfdrive/controls/lib/drive_helpers.py
View File

@@ -134,15 +134,15 @@ class VCruiseHelper:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
def initialize_v_cruise(self, CS, frogpilot_variables, experimental_mode: bool, conditional_experimental_mode) -> None:
def initialize_v_cruise(self, CS, experimental_mode: bool, conditional_experimental_mode) -> None:
# initializing is handled by the PCM
if self.CP.pcmCruise and not frogpilot_variables.CSLC:
if self.CP.pcmCruise:
return
if frogpilot_variables.CSLC:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = self.v_cruise_kph
return
# if frogpilot_variables.CSLC:
# self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# self.v_cruise_cluster_kph = self.v_cruise_kph
# return
initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode and not conditional_experimental_mode else V_CRUISE_INITIAL