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2024-02-16 20:10:55 -06:00
parent 38b37d25b2
commit c20342dfd0
4 changed files with 23 additions and 4 deletions
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6
selfdrive/car/hyundai/carcontroller.py
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@@ -10,6 +10,8 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarCon
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from openpilot.common.params import Params
from openpilot.common.watcher import Watcher
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -208,6 +210,10 @@ class CarController:
new_actuators.steerOutputCan = apply_steer
new_actuators.accel = accel
Watcher.log_watch("hyundai_carcontroller_update_CC", CC)
Watcher.log_watch("hyundai_carcontroller_update_CS", CS)
Watcher.log_watch("hyundai_carcontroller_update_self", self)
self.frame += 1
return new_actuators, can_sends

11
selfdrive/car/hyundai/carstate.py
View File

@@ -12,6 +12,8 @@ from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_G
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.frogpilot.functions.speed_limit_controller import SpeedLimitController
from openpilot.common.watcher import Watcher
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
@@ -54,6 +56,9 @@ class CarState(CarStateBase):
self.params = CarControllerParams(CP)
def update(self, cp, cp_cam):
Watcher.log_watch("hyundai_carstate_update_cp", cp)
Watcher.log_watch("hyundai_carstate_update_cp_cam", cp_cam)
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
@@ -214,9 +219,13 @@ class CarState(CarStateBase):
# put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_self", self)
return ret
def update_canfd(self, cp, cp_cam):
Watcher.log_watch("hyundai_carstate_update_canfd_cp", cp)
Watcher.log_watch("hyundai_carstate_update_canfd_cp_cam", cp_cam)
ret = car.CarState.new_message()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
@@ -354,6 +363,8 @@ class CarState(CarStateBase):
# put_bool_nonblocking("ExperimentalMode", not experimental_mode)
# self.lkas_previously_pressed = lkas_pressed
Watcher.log_watch("hyundai_carstate_update_canfd_self", self)
return ret
# BBOT does not work