288 lines
13 KiB
Python
288 lines
13 KiB
Python
from cereal import car
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.numpy_fast import clip
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from openpilot.common.realtime import DT_CTRL
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
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from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
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from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
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from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, LEGACY_SAFETY_MODE_CAR
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from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
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from openpilot.common.params import Params
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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params_memory = Params("/dev/shm/params")
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# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
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# All slightly below EPS thresholds to avoid fault
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MAX_ANGLE = 85
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MAX_ANGLE_FRAMES = 89
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MAX_ANGLE_CONSECUTIVE_FRAMES = 2
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def process_hud_alert(enabled, fingerprint, hud_control):
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sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
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# initialize to no line visible
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# TODO: this is not accurate for all cars
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sys_state = 1
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if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active
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sys_state = 3 if enabled or sys_warning else 4
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elif hud_control.leftLaneVisible:
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sys_state = 5
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elif hud_control.rightLaneVisible:
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sys_state = 6
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# initialize to no warnings
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left_lane_warning = 0
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right_lane_warning = 0
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if hud_control.leftLaneDepart:
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left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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if hud_control.rightLaneDepart:
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right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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return sys_warning, sys_state, left_lane_warning, right_lane_warning
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.CAN = CanBus(CP)
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self.params = CarControllerParams(CP)
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self.packer = CANPacker(dbc_name)
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self.angle_limit_counter = 0
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self.frame = 0
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self.accel_last = 0
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self.apply_steer_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.last_button_frame = 0
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def update(self, CC, CS, now_nanos, sport_plus):
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actuators = CC.actuators
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hud_control = CC.hudControl
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# hud_v_cruise = hud_control.setSpeed
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# if hud_v_cruise > 70:
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# hud_v_cruise = 0
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# steering torque
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new_steer = int(round(actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
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# >90 degree steering fault prevention
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self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
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self.angle_limit_counter, MAX_ANGLE_FRAMES,
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MAX_ANGLE_CONSECUTIVE_FRAMES)
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if not CC.latActive:
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apply_steer = 0
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# Hold torque with induced temporary fault when cutting the actuation bit
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torque_fault = CC.latActive and not apply_steer_req
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self.apply_steer_last = apply_steer
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# accel + longitudinal
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if sport_plus:
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accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS)
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else:
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accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
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stopping = actuators.longControlState == LongCtrlState.stopping
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set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
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# HUD messages
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sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
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hud_control)
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can_sends = []
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# *** common hyundai stuff ***
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# tester present - w/ no response (keeps relevant ECU disabled)
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if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
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# for longitudinal control, either radar or ADAS driving ECU
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addr, bus = 0x7d0, 0
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if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
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addr, bus = 0x730, self.CAN.ECAN
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can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
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# for blinkers
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if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
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# CAN-FD platforms
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if self.CP.carFingerprint in CANFD_CAR:
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hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
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hda2_long = hda2 and self.CP.openpilotLongitudinalControl
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# steering control
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can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
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# MODIFIED BBOT
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if self.frame % 5 == 0 and hda2:
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can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
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self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
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# MODIFIED BBOT
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# LFA and HDA icons
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if self.frame % 5 == 0 and (not hda2 or hda2_long):
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can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
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# blinkers
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if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
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if self.CP.openpilotLongitudinalControl:
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if hda2:
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can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
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if self.frame % 2 == 0:
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can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
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set_speed_in_units, CS.personality_profile))
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self.accel_last = accel
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else:
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# button presses
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can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
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else:
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can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
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torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
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hud_control.leftLaneVisible, hud_control.rightLaneVisible,
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left_lane_warning, right_lane_warning))
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if not self.CP.openpilotLongitudinalControl:
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can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
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if not self.CP.openpilotLongitudinalControl and CS.cruiseState.available and not CS.out.gasPressed and CS.cruise_buttons == Buttons.NONE
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if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
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# TODO: unclear if this is needed
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jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
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use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
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can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
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hud_control.leadVisible, set_speed_in_units, stopping,
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CC.cruiseControl.override, use_fca, CS.out.cruiseState.available, CS.personality_profile))
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# 20 Hz LFA MFA message
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if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
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can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
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# 5 Hz ACC options
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if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
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can_sends.extend(hyundaican.create_acc_opt(self.packer))
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# 2 Hz front radar options
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if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
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can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
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# CSLC
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# 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:
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# # cslcSetSpeed = get_set_speed(self, hud_v_cruise)
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# cslcSetSpeed = set_speed_in_units
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# self.cruise_button = get_cslc_button(self, cslcSetSpeed, CS)
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# if self.cruise_button != Buttons.NONE:
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# # if self.CP.carFingerprint in LEGACY_SAFETY_MODE_CAR:
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# # send_freq = 1
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# # # send resume at a max freq of 10Hz
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# # if (self.frame - self.last_button_frame) * DT_CTRL > 0.1 * send_freq:
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# # # send 25 messages at a time to increases the likelihood of cruise buttons being accepted
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# # can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
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# # if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15 * send_freq:
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# # self.last_button_frame = self.frame
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# if self.frame % 2 == 0:
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# if self.CP.carFingerprint in CANFD_CAR:
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# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, self.cruise_button))
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# else:
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# can_sends.extend([hyundaican.create_clu11(self.packer, (self.frame // 2) + 1, CS.clu11, self.cruise_button, self.CP.carFingerprint)] * 25)
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# Test
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if CS.cruise_buttons == Buttons.NONE and CS.cruiseState.enabled:
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, ((self.frame // 2) + 1) % 0x10, Buttons.SET_DECEL))
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new_actuators = actuators.copy()
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new_actuators.steer = apply_steer / self.params.STEER_MAX
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new_actuators.steerOutputCan = apply_steer
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new_actuators.accel = accel
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self.frame += 1
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return new_actuators, can_sends
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def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool):
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can_sends = []
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if CS.oscar_lane_center_btn_pressed:
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CS.oscar_lane_center_btn_pressed= False
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CC.cruiseControl.resume = True
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floog = floorp
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# Test me.
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# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, 1, Buttons.RES_ACCEL))
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# if self.CP.openpilotLongitudinalControl:
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# CC.cruiseControl.resume = True
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# self.CP.openpilotLongitudinalControl = False
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# else:
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# CC.cruiseControl.cancel = True
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# self.CP.openpilotLongitudinalControl = True
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if use_clu11:
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if CC.cruiseControl.cancel:
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can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
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elif CC.cruiseControl.resume:
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# send resume at a max freq of 10Hz
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
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# send 25 messages at a time to increases the likelihood of resume being accepted
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can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
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if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
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self.last_button_frame = self.frame
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else:
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if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
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# cruise cancel
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if CC.cruiseControl.cancel:
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if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
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self.last_button_frame = self.frame
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else:
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for _ in range(20):
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
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self.last_button_frame = self.frame
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# cruise standstill resume
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elif CC.cruiseControl.resume:
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if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
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# oscar - test me
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for _ in range(20):
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# can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
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self.last_button_frame = self.frame
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else:
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for _ in range(20):
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can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
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self.last_button_frame = self.frame
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# can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.SET_DECEL, self.CP.carFingerprint)] * 25)
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return can_sends
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def get_set_speed(self, hud_v_cruise):
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v_cruise_kph = min(hud_v_cruise * CV.MS_TO_KPH, V_CRUISE_MAX)
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v_cruise = int(round(v_cruise_kph * CV.KPH_TO_MPH))
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v_cruise_slc: int = 0
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# v_cruise_slc = params_memory.get_int("CSLCSpeed")
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if v_cruise_slc > 0:
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v_cruise = v_cruise_slc
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return v_cruise
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def get_cslc_button(self, cslcSetSpeed, CS):
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cruiseBtn = Buttons.NONE
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speedSetPoint = int(round(CS.out.cruiseState.speed * CV.MS_TO_MPH))
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if cslcSetSpeed < speedSetPoint and speedSetPoint > 25:
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cruiseBtn = Buttons.SET_DECEL
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elif cslcSetSpeed > speedSetPoint and speedSetPoint < 75:
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cruiseBtn = Buttons.RES_ACCEL
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else:
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cruiseBtn = Buttons.NONE
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return cruiseBtn
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