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Hyundai: clean up CarInterface apply function (#24000) 

* clean up Hyundai CarController

* remove
ez-test-models
Shane Smiskol 2022-03-18 21:08:15 -07:00 committed by GitHub
parent 70286766da
commit 7a2f3c023e
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 42 additions and 43 deletions
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79
selfdrive/car/hyundai/carcontroller.py
View File

@ -11,35 +11,35 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
right_lane, left_lane_depart, right_lane_depart):
sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))
def process_hud_alert(enabled, fingerprint, hud_control):
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
# initialize to no line visible
sys_state = 1
if left_lane and right_lane or sys_warning: # HUD alert only display when LKAS status is active
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 left_lane:
elif hud_control.leftLaneVisible:
sys_state = 5
elif right_lane:
elif hud_control.rightLaneVisible:
sys_state = 6
# initialize to no warnings
left_lane_warning = 0
right_lane_warning = 0
if left_lane_depart:
if hud_control.leftLaneDepart:
left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
if right_lane_depart:
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():
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.p = CarControllerParams(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.frame = 0
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
@ -47,47 +47,49 @@ class CarController():
self.last_resume_frame = 0
self.accel = 0
def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
left_lane, right_lane, left_lane_depart, right_lane_depart):
def update(self, CC, CS):
actuators = CC.actuators
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
# Steering Torque
new_steer = int(round(actuators.steer * self.p.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
self.steer_rate_limited = new_steer != apply_steer
if not c.latActive:
if not CC.latActive:
apply_steer = 0
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning = \
process_hud_alert(c.enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if self.CP.openpilotLongitudinalControl:
if (frame % 100) == 0:
if self.frame % 100 == 0:
can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, c.latActive,
CS.lkas11, sys_warning, sys_state, c.enabled,
left_lane, right_lane,
can_sends.append(create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
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:
if pcm_cancel_cmd:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
can_sends.append(create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill:
# send resume at a max freq of 10Hz
if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
if (self.frame - self.last_resume_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = frame
can_sends.extend([create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = self.frame
if frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
lead_visible = False
accel = actuators.accel if c.longActive else 0
accel = actuators.accel if CC.longActive else 0
jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
@ -97,28 +99,29 @@ class CarController():
accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
stopping = (actuators.longControlState == LongCtrlState.stopping)
set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible,
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
can_sends.extend(create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
set_speed_in_units, stopping, CS.out.gasPressed))
self.accel = accel
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
can_sends.append(create_lfahda_mfc(self.packer, c.enabled))
if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
can_sends.append(create_lfahda_mfc(self.packer, CC.enabled))
# 5 Hz ACC options
if frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(create_acc_opt(self.packer))
# 2 Hz front radar options
if frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(create_frt_radar_opt(self.packer))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / self.p.STEER_MAX
new_actuators.steer = apply_steer / self.params.STEER_MAX
new_actuators.accel = self.accel
self.frame += 1
return new_actuators, can_sends

6
selfdrive/car/hyundai/interface.py
View File

@ -348,9 +348,5 @@ class CarInterface(CarInterfaceBase):
return self.CS.out
def apply(self, c):
hud_control = c.hudControl
ret = self.CC.update(c, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, hud_control.visualAlert,
hud_control.setSpeed, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
hud_control.leftLaneDepart, hud_control.rightLaneDepart)
self.frame += 1
ret = self.CC.update(c, self.CS)
return ret