283 lines
10 KiB
Python
283 lines
10 KiB
Python
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
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from selfdrive.car.hyundai.values import ECU, ECU_FINGERPRINT, CAR, get_hud_alerts, FEATURES, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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GearShifter = car.CarState.GearShifter
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ButtonType = car.CarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.VM = VehicleModel(CP)
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self.idx = 0
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self.lanes = 0
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self.lkas_request = 0
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self.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.cruise_enabled_prev = False
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self.low_speed_alert = False
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# *** init the major players ***
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self.CS = CarState(CP)
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self.cp = get_can_parser(CP)
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self.cp_cam = get_camera_parser(CP)
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self.CC = None
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if CarController is not None:
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self.CC = CarController(self.cp.dbc_name, CP.carFingerprint)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 3.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret.carName = "hyundai"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.radarOffCan = True
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ret.safetyModel = car.CarParams.SafetyModel.hyundai
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ret.enableCruise = True # stock acc
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ret.steerActuatorDelay = 0.1 # Default delay
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ret.steerRateCost = 0.5
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ret.steerLimitTimer = 0.4
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tire_stiffness_factor = 1.
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if candidate == CAR.SANTA_FE:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.766
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# Values from optimizer
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ret.steerRatio = 16.55 # 13.8 is spec end-to-end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[9., 22.], [9., 22.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.35], [0.05, 0.09]]
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ret.minSteerSpeed = 0.
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elif candidate == CAR.KIA_SORENTO:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1985. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable
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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 = [[0.25], [0.05]]
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ret.minSteerSpeed = 0.
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elif candidate == CAR.ELANTRA:
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ret.lateralTuning.pid.kf = 0.00006
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ret.mass = 1275. + STD_CARGO_KG
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ret.wheelbase = 2.7
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ret.steerRatio = 13.73 #Spec
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tire_stiffness_factor = 0.385
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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 = [[0.25], [0.05]]
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ret.minSteerSpeed = 32 * CV.MPH_TO_MS
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elif candidate == CAR.GENESIS:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 2060. + STD_CARGO_KG
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ret.wheelbase = 3.01
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ret.steerRatio = 16.5
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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 = [[0.16], [0.01]]
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ret.minSteerSpeed = 35 * CV.MPH_TO_MS
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elif candidate == CAR.KIA_OPTIMA:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 3558. * CV.LB_TO_KG
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ret.wheelbase = 2.80
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ret.steerRatio = 13.75
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tire_stiffness_factor = 0.5
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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 = [[0.25], [0.05]]
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elif candidate == CAR.KIA_STINGER:
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ret.lateralTuning.pid.kf = 0.00005
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ret.mass = 1825. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable
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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 = [[0.25], [0.05]]
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ret.minSteerSpeed = 0.
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.centerToFront = ret.wheelbase * 0.4
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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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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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ret.steerControlType = car.CarParams.SteerControlType.torque
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [1.0]
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [1.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
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ret.openpilotLongitudinalControl = False
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ret.stoppingControl = False
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ret.startAccel = 0.0
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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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# ******************* do can recv *******************
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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self.CS.update(self.cp, self.cp_cam)
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# create message
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ret = car.CarState.new_message()
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.aEgo = self.CS.a_ego
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ret.yawRate = self.CS.yaw_rate
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# gear shifter
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if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
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ret.gearShifter = self.CS.gear_shifter_cluster
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elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
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ret.gearShifter = self.CS.gear_tcu
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else:
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ret.gearShifter = self.CS.gear_shifter
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# gas pedal
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ret.gas = self.CS.car_gas
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ret.gasPressed = self.CS.pedal_gas > 1e-3 # tolerance to avoid false press reading
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# brake pedal
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ret.brake = self.CS.user_brake
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ret.brakePressed = self.CS.brake_pressed != 0
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ret.brakeLights = self.CS.brake_lights
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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ret.steeringRate = self.CS.angle_steers_rate # it's unsigned
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ret.steeringTorque = self.CS.steer_torque_driver
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ret.steeringPressed = self.CS.steer_override
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# cruise state
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ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
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if self.CS.pcm_acc_status != 0:
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ret.cruiseState.speed = self.CS.cruise_set_speed
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else:
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ret.cruiseState.speed = 0
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.cruiseState.standstill = False
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# TODO: button presses
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buttonEvents = []
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.leftBlinker
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be.pressed = self.CS.left_blinker_on != 0
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.rightBlinker
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be.pressed = self.CS.right_blinker_on != 0
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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ret.leftBlinker = bool(self.CS.left_blinker_on)
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ret.rightBlinker = bool(self.CS.right_blinker_on)
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ret.doorOpen = not self.CS.door_all_closed
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ret.seatbeltUnlatched = not self.CS.seatbelt
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# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
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if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
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self.low_speed_alert = True
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if ret.vEgo > (self.CP.minSteerSpeed + 4.):
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self.low_speed_alert = False
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events = []
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if not ret.gearShifter == GearShifter.drive:
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.esp_disabled:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.main_on:
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events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gearShifter == GearShifter.reverse:
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steer_error:
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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elif not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on pedals rising edge or when brake is pressed and speed isn't zero
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if (ret.gasPressed and not self.gas_pressed_prev) or \
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(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgoRaw > 0.1)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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if self.low_speed_alert:
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events.append(create_event('belowSteerSpeed', [ET.WARNING]))
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ret.events = events
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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return ret.as_reader()
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def apply(self, c):
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hud_alert = get_hud_alerts(c.hudControl.visualAlert)
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can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
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c.cruiseControl.cancel, hud_alert)
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return can_sends
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