9.7 KiB
from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState
MAX_ANGLE = 85 MAX_ANGLE_FRAMES = 89 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
def process_hud_alert(enabled, fingerprint, hud_control): sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
sys_state = 1 if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active sys_state = 3 if enabled or sys_warning else 4 elif hud_control.leftLaneVisible: sys_state = 5 elif hud_control.rightLaneVisible: sys_state = 6
left_lane_warning = 0 right_lane_warning = 0 if hud_control.leftLaneDepart: left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 if hud_control.rightLaneDepart: right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
return sys_warning, sys_state, left_lane_warning, right_lane_warning
class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.angle_limit_counter = 0 self.frame = 0
self.accel_last = 0 self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0
def update(self, CC, CS, now_nanos, sport_plus): actuators = CC.actuators hud_control = CC.hudControl
new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive, self.angle_limit_counter, MAX_ANGLE_FRAMES, MAX_ANGLE_CONSECUTIVE_FRAMES)
if not CC.latActive: apply_steer = 0
torque_fault = CC.latActive and not apply_steer_req
self.apply_steer_last = apply_steer
if sport_plus: accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX_PLUS) else: accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, hud_control)
can_sends = []
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
addr, bus = 0x7d0, 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, self.CAN.ECAN can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
if self.CP.carFingerprint in CANFD_CAR: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
if self.frame % 5 == 0 and hda2: can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg, self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
if self.frame % 5 == 0 and (not hda2 or hda2_long): can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.CP.openpilotLongitudinalControl: if hda2: can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units, CS.personality_profile)) self.accel_last = accel else:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) else: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning))
if not self.CP.openpilotLongitudinalControl: can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, CS.out.cruiseState.available, CS.personality_profile))
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: can_sends.extend(hyundaican.create_acc_opt(self.packer))
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl: can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.steerOutputCan = apply_steer new_actuators.accel = accel
self.frame += 1 return new_actuators, can_sends
def create_button_messages(self, CC: car.CarControl, CS: car.CarState, use_clu11: bool): can_sends = [] if use_clu11: if CC.cruiseControl.cancel: can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) elif CC.cruiseControl.resume:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: self.last_button_frame = self.frame else: if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
if CC.cruiseControl.cancel: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info)) 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.CANCEL)) self.last_button_frame = self.frame
elif CC.cruiseControl.resume: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
pass else: for _ in range(20): can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame
return can_sends