103 lines
3.9 KiB
Python
103 lines
3.9 KiB
Python
from cereal import car
|
|
from selfdrive.car import apply_std_steer_torque_limits
|
|
from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11, create_lfa_mfa
|
|
from selfdrive.car.hyundai.values import Buttons, SteerLimitParams, CAR
|
|
from opendbc.can.packer import CANPacker
|
|
|
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|
|
|
|
|
def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
|
|
right_lane, left_lane_depart, right_lane_depart):
|
|
sys_warning = (visual_alert == VisualAlert.steerRequired)
|
|
|
|
# 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 enabled or sys_warning:
|
|
sys_state = 3
|
|
else:
|
|
sys_state = 4
|
|
elif left_lane:
|
|
sys_state = 5
|
|
elif right_lane:
|
|
sys_state = 6
|
|
|
|
# initialize to no warnings
|
|
left_lane_warning = 0
|
|
right_lane_warning = 0
|
|
if left_lane_depart:
|
|
left_lane_warning = 1 if fingerprint in [CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
|
|
if right_lane_depart:
|
|
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.apply_steer_last = 0
|
|
self.car_fingerprint = CP.carFingerprint
|
|
self.packer = CANPacker(dbc_name)
|
|
self.steer_rate_limited = False
|
|
self.resume_cnt = 0
|
|
self.last_resume_frame = 0
|
|
self.last_lead_distance = 0
|
|
|
|
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
|
|
left_lane, right_lane, left_lane_depart, right_lane_depart):
|
|
# Steering Torque
|
|
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
|
|
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
|
|
self.steer_rate_limited = new_steer != apply_steer
|
|
|
|
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
|
|
lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
|
|
|
|
# fix for Genesis hard fault at low speed
|
|
if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
|
|
lkas_active = 0
|
|
|
|
if not lkas_active:
|
|
apply_steer = 0
|
|
|
|
self.apply_steer_last = apply_steer
|
|
|
|
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
|
|
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
|
|
left_lane, right_lane, left_lane_depart, right_lane_depart)
|
|
|
|
can_sends = []
|
|
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
|
|
CS.lkas11, sys_warning, sys_state, enabled,
|
|
left_lane, right_lane,
|
|
left_lane_warning, right_lane_warning))
|
|
|
|
if pcm_cancel_cmd:
|
|
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
|
|
|
|
elif CS.out.cruiseState.standstill:
|
|
# run only first time when the car stopped
|
|
if self.last_lead_distance == 0:
|
|
# get the lead distance from the Radar
|
|
self.last_lead_distance = CS.lead_distance
|
|
self.resume_cnt = 0
|
|
# when lead car starts moving, create 6 RES msgs
|
|
elif CS.lead_distance != self.last_lead_distance and (frame - self.last_resume_frame) > 5:
|
|
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL))
|
|
self.resume_cnt += 1
|
|
# interval after 6 msgs
|
|
if self.resume_cnt > 5:
|
|
self.last_resume_frame = frame
|
|
self.clu11_cnt = 0
|
|
# reset lead distnce after the car starts moving
|
|
elif self.last_lead_distance != 0:
|
|
self.last_lead_distance = 0
|
|
|
|
|
|
# 20 Hz LFA MFA message
|
|
if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE]:
|
|
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
|
|
|
|
return can_sends
|