232 lines
9.3 KiB
Python
Executable File
232 lines
9.3 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from math import fabs
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from common.conversions import Conversions as CV
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.gm.values import CAR, CruiseButtons, \
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AccState, CarControllerParams
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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params = CarControllerParams()
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return params.ACCEL_MIN, params.ACCEL_MAX
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# Determined by iteratively plotting and minimizing error for f(angle, speed) = steer.
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@staticmethod
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def get_steer_feedforward_volt(desired_angle, v_ego):
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desired_angle *= 0.02904609
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sigmoid = desired_angle / (1 + fabs(desired_angle))
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return 0.10006696 * sigmoid * (v_ego + 3.12485927)
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@staticmethod
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def get_steer_feedforward_acadia(desired_angle, v_ego):
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desired_angle *= 0.09760208
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sigmoid = desired_angle / (1 + fabs(desired_angle))
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return 0.04689655 * sigmoid * (v_ego + 10.028217)
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def get_steer_feedforward_function(self):
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if self.CP.carFingerprint == CAR.VOLT:
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return self.get_steer_feedforward_volt
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elif self.CP.carFingerprint == CAR.ACADIA:
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return self.get_steer_feedforward_acadia
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else:
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return CarInterfaceBase.get_steer_feedforward_default
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "gm"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
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ret.pcmCruise = False # stock cruise control is kept off
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# These cars have been put into dashcam only due to both a lack of users and test coverage.
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# These cars likely still work fine. Once a user confirms each car works and a test route is
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# added to selfdrive/test/test_routes, we can remove it from this list.
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ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL}
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# Presence of a camera on the object bus is ok.
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# Have to go to read_only if ASCM is online (ACC-enabled cars),
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# or camera is on powertrain bus (LKA cars without ACC).
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ret.openpilotLongitudinalControl = True
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tire_stiffness_factor = 0.444 # not optimized yet
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# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
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ret.minSteerSpeed = 7 * CV.MPH_TO_MS
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
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ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
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ret.steerRateCost = 1.0
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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if candidate == CAR.VOLT:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1607. + STD_CARGO_KG
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ret.wheelbase = 2.69
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ret.steerRatio = 17.7 # Stock 15.7, LiveParameters
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tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
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ret.lateralTuning.pid.kpBP = [0., 40.]
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ret.lateralTuning.pid.kpV = [0., 0.17]
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ret.lateralTuning.pid.kiBP = [0.]
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ret.lateralTuning.pid.kiV = [0.]
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ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
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ret.steerActuatorDelay = 0.2
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elif candidate == CAR.MALIBU:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1496. + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.steerRatio = 15.8
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # wild guess
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elif candidate == CAR.HOLDEN_ASTRA:
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ret.mass = 1363. + STD_CARGO_KG
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ret.wheelbase = 2.662
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# Remaining parameters copied from Volt for now
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ret.centerToFront = ret.wheelbase * 0.4
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.steerRatio = 15.7
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ret.steerRatioRear = 0.
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elif candidate == CAR.ACADIA:
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ret.minEnableSpeed = -1. # engage speed is decided by pcm
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ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.86
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ret.steerRatio = 14.4 # end to end is 13.46
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4
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ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
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elif candidate == CAR.BUICK_REGAL:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
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ret.wheelbase = 2.83 # 111.4 inches in meters
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ret.steerRatio = 14.4 # guess for tourx
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
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elif candidate == CAR.CADILLAC_ATS:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1601. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 15.3
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.49
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elif candidate == CAR.ESCALADE_ESV:
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ret.minEnableSpeed = -1. # engage speed is decided by pcm
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ret.mass = 2739. + STD_CARGO_KG
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ret.wheelbase = 3.302
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ret.steerRatio = 17.3
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ret.centerToFront = ret.wheelbase * 0.49
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
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ret.lateralTuning.pid.kf = 0.000045
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tire_stiffness_factor = 1.0
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.36]
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ret.steerLimitTimer = 0.4
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ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_loopback.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_loopback)
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ret.canValid = self.cp.can_valid and self.cp_loopback.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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buttonEvents = []
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.unknown
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if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
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be.pressed = True
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but = self.CS.cruise_buttons
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else:
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be.pressed = False
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but = self.CS.prev_cruise_buttons
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if but == CruiseButtons.RES_ACCEL:
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if not (ret.cruiseState.enabled and ret.standstill):
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be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
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elif but == CruiseButtons.DECEL_SET:
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be.type = ButtonType.decelCruise
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elif but == CruiseButtons.CANCEL:
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be.type = ButtonType.cancel
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elif but == CruiseButtons.MAIN:
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be.type = ButtonType.altButton3
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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events = self.create_common_events(ret, pcm_enable=False)
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if ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if self.CS.park_brake:
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events.add(EventName.parkBrake)
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if ret.cruiseState.standstill:
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events.add(EventName.resumeRequired)
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if self.CS.pcm_acc_status == AccState.FAULTED:
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events.add(EventName.accFaulted)
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if ret.vEgo < self.CP.minSteerSpeed:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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# handle button presses
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for b in ret.buttonEvents:
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# do enable on both accel and decel buttons
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if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
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events.add(EventName.buttonEnable)
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# do disable on button down
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if b.type == ButtonType.cancel and b.pressed:
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events.add(EventName.buttonCancel)
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ret.events = events.to_msg()
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# copy back carState packet to CS
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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hud_control = c.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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ret = self.CC.update(c, self.CS, self.frame, c.actuators,
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hud_v_cruise, hud_control.lanesVisible,
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hud_control.leadVisible, hud_control.visualAlert)
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self.frame += 1
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return ret
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