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carrot2-v9
openpilot/opendbc_repo/opendbc/car/hyundai/carstate.py

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Release 260111
2026-01-11 18:23:29 +08:00
from collections import deque
import copy
import math
import numpy as np
import ast
from opendbc.can import CANDefine, CANParser
from opendbc.car import Bus, create_button_events, structs, DT_CTRL
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams, CAMERA_SCC_CAR, HyundaiExtFlags
from opendbc.car.interfaces import CarStateBase
from openpilot.common.params import Params
from datetime import datetime
from zoneinfo import ZoneInfo
ButtonType = structs.CarState.ButtonEvent.Type
PREV_BUTTON_SAMPLES = 8
CLUSTER_SAMPLE_RATE = 20 # frames
STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel, Buttons.LFA_BUTTON: ButtonType.lfaButton}
GearShifter = structs.CarState.GearShifter
NUMERIC_TO_TZ = {
840: "America/New_York", # 미국 (US) → 동부 시간대
124: "America/Toronto", # 캐나다 (CA) → 동부 시간대
250: "Europe/Paris", # 프랑스 (FR)
276: "Europe/Berlin", # 독일 (DE)
826: "Europe/London", # 영국 (GB)
392: "Asia/Tokyo", # 일본 (JP)
156: "Asia/Shanghai", # 중국 (CN)
410: "Asia/Seoul", # 한국 (KR)
36: "Australia/Sydney", # 호주 (AU)
356: "Asia/Kolkata", # 인도 (IN)
}
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.gear_msg_canfd = "GEAR" if CP.extFlags & HyundaiExtFlags.CANFD_GEARS_69 else \
"ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.flags & HyundaiFlags.CANFD:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
elif CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
self.shifter_values = can_define.dv["ELECT_GEAR"]["Elect_Gear_Shifter"]
elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
elif self.CP.flags & HyundaiFlags.TCU_GEARS:
self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
elif CP.flags & HyundaiFlags.FCEV:
self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
else:
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \
"ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \
"ACCELERATOR_BRAKE_ALT"
self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
"CRUISE_BUTTONS"
self.is_metric = False
self.buttons_counter = 0
self.cruise_info = {}
self.lfa_info = {}
self.lfa_alt_info = {}
self.lfahda_cluster_info = None
self.adrv_info_161 = None
self.adrv_info_200 = None
self.adrv_info_1ea = None
self.adrv_info_160 = None
self.adrv_info_162 = None
self.hda_info_4a3 = None
self.new_msg_4b4 = None
self.tcs_info_373 = None
self.mdps_info = {}
self.steer_touch_info = {}
self.cruise_buttons_msg = None
self.msg_0x362 = None
self.msg_0x2a4 = None
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
self.cluster_speed = 0
self.cluster_speed_counter = CLUSTER_SAMPLE_RATE
self.params = CarControllerParams(CP)
self.main_enabled = True if Params().get_int("AutoEngage") == 2 else False
self.gear_shifter = GearShifter.drive # Gear_init for Nexo ?? unknown 21.02.23.LSW
self.totalDistance = 0.0
self.speedLimitDistance = 0
self.pcmCruiseGap = 0
self.cruise_buttons_alt = True if self.CP.carFingerprint in (CAR.HYUNDAI_CASPER, CAR.HYUNDAI_CASPER_EV) else False
self.MainMode_ACC = False
self.ACCMode = 0
self.LFA_ICON = 0
self.paddle_button_prev = 0
self.lf_distance = 0
self.rf_distance = 0
self.lr_distance = 0
self.rr_distance = 0
#self.lf_lateral = 0
#self.rf_lateral = 0
fingerprints_str = Params().get("FingerPrints", encoding='utf-8')
fingerprints = ast.literal_eval(fingerprints_str)
#print("fingerprints =", fingerprints)
ecu_disabled = False
if self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC):
ecu_disabled = True
if ecu_disabled:
self.SCC11 = self.SCC12 = self.SCC13 = self.SCC14 = self.FCA11 = False
else:
bus_cruise = 2 if self.CP.flags & HyundaiFlags.CAMERA_SCC else 0
self.SCC11 = True if 1056 in fingerprints[bus_cruise] else False
self.SCC12 = True if 1057 in fingerprints[bus_cruise] else False
self.SCC13 = True if 1290 in fingerprints[bus_cruise] else False
self.SCC14 = True if 905 in fingerprints[bus_cruise] else False
self.FCA11 = False
self.FCA11_bus = Bus.cam
self.HAS_LFA_BUTTON = True if 913 in fingerprints[0] else False
self.CRUISE_BUTTON_ALT = True if 1007 in fingerprints[0] else False
cam_bus = CanBus(CP).CAM
pt_bus = CanBus(CP).ECAN
alt_bus = CanBus(CP).ACAN
self.CCNC_0x161 = True if 0x161 in fingerprints[cam_bus] else False
self.CCNC_0x162 = True if 0x162 in fingerprints[cam_bus] else False
self.ADRV_0x200 = True if 0x200 in fingerprints[cam_bus] else False
self.ADRV_0x1ea = True if 0x1ea in fingerprints[cam_bus] else False
self.ADRV_0x160 = True if 0x160 in fingerprints[cam_bus] else False
self.LFAHDA_CLUSTER = True if 480 in fingerprints[cam_bus] else False
self.HDA_INFO_4A3 = True if 0x4a3 in fingerprints[pt_bus] else False
self.NEW_MSG_4B4 = True if 0x4b4 in fingerprints[pt_bus] else False
self.GEAR = True if 69 in fingerprints[pt_bus] else False
self.GEAR_ALT = True if 64 in fingerprints[pt_bus] else False
self.CAM_0x362 = True if 0x362 in fingerprints[alt_bus] else False
self.CAM_0x2a4 = True if 0x2a4 in fingerprints[alt_bus] else False
self.STEER_TOUCH_2AF = True if 0x2af in fingerprints[pt_bus] else False
self.TPMS = True if 0x3a0 in fingerprints[pt_bus] else False
self.LOCAL_TIME = True if 1264 in fingerprints[pt_bus] else False
self.cp_bsm = None
self.time_zone = "UTC"
self.controls_ready_count = 0
def update(self, can_parsers) -> structs.CarState:
if self.controls_ready_count <= 200:
if Params().get_bool("ControlsReady"):
self.controls_ready_count += 1
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
cp_alt = can_parsers[Bus.alt] if Bus.alt in can_parsers else None
if self.controls_ready_count == 50:
cp.controls_ready = cp_cam.controls_ready = True
if cp_alt is not None:
cp_alt.controls_ready = True
elif self.controls_ready_count == 100:
print("cp_cam.seen_addresses =", cp_cam.seen_addresses)
print("cp.seen_addresses =", cp.seen_addresses)
if 909 in cp_cam.seen_addresses:
self.FCA11 = True
self.FCA11_bus = Bus.cam
elif 909 in cp.seen_addresses:
self.FCA11 = True
self.FCA11_bus = Bus.pt
if cp_alt is not None:
print("cp_alt.seen_addresses =", cp_alt.seen_addresses)
if self.CP.flags & HyundaiFlags.CANFD:
return self.update_canfd(can_parsers)
ret = structs.CarState()
cp_cruise = cp_cam if self.CP.flags & HyundaiFlags.CAMERA_SCC else cp
self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHL_SPD11"]["WHL_SPD_FL"],
cp.vl["WHL_SPD11"]["WHL_SPD_FR"],
cp.vl["WHL_SPD11"]["WHL_SPD_RL"],
cp.vl["WHL_SPD11"]["WHL_SPD_RR"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
self.cluster_speed_counter += 1
if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
self.cluster_speed_counter = 0
# Mimic how dash converts to imperial.
# Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
# TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
#ret.vEgoCluster = self.cluster_speed * speed_conv
ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"]
ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"]
ret.yawRate = cp.vl["ESP12"]["YAW_RATE"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"])
ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"]
ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
# cruise state
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.available = self.main_enabled #cp.vl["TCS13"]["ACCEnable"] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
ret.cruiseState.nonAdaptive = False
elif not self.CP.flags & HyundaiFlags.CC_ONLY_CAR:
self.main_enabled = ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash
ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
ret.pcmCruiseGap = cp_cruise.vl["SCC11"]["TauGapSet"]
# TODO: Find brake pressure
ret.brake = 0
if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR:
ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV
ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"] or ret.brakePressed)
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
if self.CP.flags & HyundaiFlags.FCEV:
ret.gas = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254.
elif self.CP.flags & HyundaiFlags.HYBRID:
ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254.
else:
ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254.
ret.gasPressed = ret.gas > 0
else:
ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100.
ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])
# Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
# as this seems to be standard over all cars, but is not the preferred method.
if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
ret.gearStep = cp.vl["ELECT_GEAR"]["Elect_Gear_Step"]
elif self.CP.flags & HyundaiFlags.FCEV:
gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"]
elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS:
gear = cp.vl["CLU15"]["CF_Clu_Gear"]
elif self.CP.flags & HyundaiFlags.TCU_GEARS:
gear = cp.vl["TCU12"]["CUR_GR"]
else:
gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
ret.gearStep = cp.vl["LVR11"]["CF_Lvr_GearInf"]
if not self.CP.carFingerprint in (CAR.HYUNDAI_NEXO):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
else:
gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
gear_disp = cp.vl["ELECT_GEAR"]
gear_shifter = GearShifter.unknown
if gear == 1546: # Thank you for Neokii # fix PolorBear 22.06.05
gear_shifter = GearShifter.drive
elif gear == 2314:
gear_shifter = GearShifter.neutral
elif gear == 2569:
gear_shifter = GearShifter.park
elif gear == 2566:
gear_shifter = GearShifter.reverse
if gear_shifter != GearShifter.unknown and self.gear_shifter != gear_shifter:
self.gear_shifter = gear_shifter
ret.gearShifter = self.gear_shifter
if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR and (not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC):
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking
ret.stockAeb = aeb_warning and aeb_braking
if self.CP.enableBsm:
ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE
prev_cruise_buttons = self.cruise_buttons[-1]
#self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
#carrot {{
#if self.CRUISE_BUTTON_ALT and cp.vl["CRUISE_BUTTON_ALT"]["SET_ME_1"] == 1:
# self.cruise_buttons_alt = True
cruise_button = [Buttons.NONE]
if self.cruise_buttons_alt:
lfa_button = cp.vl["CRUISE_BUTTON_LFA"]["CruiseSwLfa"]
cruise_button = [Buttons.LFA_BUTTON] if lfa_button > 0 else [cp.vl["CRUISE_BUTTON_ALT"]["CruiseSwState"]]
elif self.HAS_LFA_BUTTON and cp.vl["BCM_PO_11"]["LFA_Pressed"] == 1: # for K5
cruise_button = [Buttons.LFA_BUTTON]
else:
cruise_button = cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]
self.cruise_buttons.extend(cruise_button)
# }} carrot
prev_main_buttons = self.main_buttons[-1]
#self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
if self.cruise_buttons_alt:
self.main_buttons.extend(cp.vl_all["CRUISE_BUTTON_ALT"]["CruiseSwMain"])
else:
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
self.mdps12 = copy.copy(cp.vl["MDPS12"])
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})]
if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR:
tpms_unit = cp.vl["TPMS11"]["UNIT"] * 0.725 if int(cp.vl["TPMS11"]["UNIT"]) > 0 else 1.
ret.tpms.fl = tpms_unit * cp.vl["TPMS11"]["PRESSURE_FL"]
ret.tpms.fr = tpms_unit * cp.vl["TPMS11"]["PRESSURE_FR"]
ret.tpms.rl = tpms_unit * cp.vl["TPMS11"]["PRESSURE_RL"]
ret.tpms.rr = tpms_unit * cp.vl["TPMS11"]["PRESSURE_RR"]
self.scc11 = cp_cruise.vl["SCC11"] if self.SCC11 else None
self.scc12 = cp_cruise.vl["SCC12"] if self.SCC12 else None
self.scc13 = cp_cruise.vl["SCC13"] if self.SCC13 else None
self.scc14 = cp_cruise.vl["SCC14"] if self.SCC14 else None
self.fca11 = can_parsers[self.FCA11_bus].vl["FCA11"] if self.FCA11 else None
cluSpeed = cp.vl["CLU11"]["CF_Clu_Vanz"]
decimal = cp.vl["CLU11"]["CF_Clu_VanzDecimal"]
if 0. < decimal < 0.5:
cluSpeed += decimal
ret.vEgoCluster = cluSpeed * speed_conv
vEgoClu, aEgoClu = self.update_clu_speed_kf(ret.vEgoCluster)
ret.vCluRatio = (ret.vEgo / vEgoClu) if (vEgoClu > 3. and ret.vEgo > 3.) else 1.0
if self.CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value:
speedLimit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"]
speedLimitCam = cp.vl["Navi_HU"]["SpeedLim_Nav_Cam"]
ret.speedLimit = speedLimit if speedLimit < 255 and speedLimitCam == 1 else 0
speed_limit_cam = speedLimitCam == 1
else:
ret.speedLimit = 0
ret.speedLimitDistance = 0
speed_limit_cam = False
self.update_speed_limit(ret, speed_limit_cam)
if prev_main_buttons == 0 and self.main_buttons[-1] != 0:
self.main_enabled = not self.main_enabled
return ret
def update_speed_limit(self, ret, speed_limit_cam):
self.totalDistance += ret.vEgo * DT_CTRL
if ret.speedLimit > 0 and not ret.gasPressed and speed_limit_cam:
if self.speedLimitDistance <= self.totalDistance:
self.speedLimitDistance = self.totalDistance + ret.speedLimit * 6
self.speedLimitDistance = max(self.totalDistance + 1, self.speedLimitDistance)
else:
self.speedLimitDistance = self.totalDistance
ret.speedLimitDistance = self.speedLimitDistance - self.totalDistance
def update_canfd(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
cp_alt = can_parsers[Bus.alt] if Bus.alt in can_parsers else None
ret = structs.CarState()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID):
offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023.
ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
ret.gasPressed = ret.gas > 1e-5
else:
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
#print(cp.vl["TCS"], cp.vl_all["TCS"]["DriverBraking"][-10:])
ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
gear = cp.vl[self.gear_msg_canfd]["GEAR"]
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if self.TPMS:
tpms_unit = cp.vl["TPMS"]["UNIT"] * 0.725 if int(cp.vl["TPMS"]["UNIT"]) > 0 else 1.
ret.tpms.fl = tpms_unit * cp.vl["TPMS"]["PRESSURE_FL"]
ret.tpms.fr = tpms_unit * cp.vl["TPMS"]["PRESSURE_FR"]
ret.tpms.rl = tpms_unit * cp.vl["TPMS"]["PRESSURE_RL"]
ret.tpms.rr = tpms_unit * cp.vl["TPMS"]["PRESSURE_RR"]
# TODO: figure out positions
ret.wheelSpeeds = self.get_wheel_speeds(
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"],
cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"],
)
ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
ret.brakeLights = ret.brakePressed or cp.vl["TCS"]["BrakeLight"] == 1
ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
# steering angle deg값이 이상함. mdps값이 더 신뢰가 가는듯.. torque steering 차량도 확인해야함.
#ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
if self.CP.flags & HyundaiFlags.ANGLE_CONTROL:
ret.steeringAngleDeg = cp.vl["MDPS"]["STEERING_ANGLE_2"] * -1
else:
ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1
ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"]
ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"]
ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 or cp.vl["MDPS"]["LFA2_FAULT"] != 0
#ret.steerFaultTemporary = False
self.mdps_info = copy.copy(cp.vl["MDPS"])
if self.STEER_TOUCH_2AF:
self.steer_touch_info = cp.vl["STEER_TOUCH_2AF"]
blinkers_info = cp.vl["BLINKERS"]
left_blinker_lamp = blinkers_info["LEFT_LAMP"] or blinkers_info["LEFT_LAMP_ALT"]
right_blinker_lamp = blinkers_info["RIGHT_LAMP"] or blinkers_info["RIGHT_LAMP_ALT"]
ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, left_blinker_lamp, right_blinker_lamp)
if self.CP.enableBsm:
if self.cp_bsm is None:
if 442 in cp.seen_addresses:
self.cp_bsm = cp
print("######## BSM in ECAN")
elif 442 in cp_cam.seen_addresses:
self.cp_bsm = cp_cam
print("######## BSM in CAM")
else:
bsm_info = self.cp_bsm.vl["BLINDSPOTS_REAR_CORNERS"]
ret.leftBlindspot = (bsm_info["FL_INDICATOR"] + bsm_info["INDICATOR_LEFT_TWO"] + bsm_info["INDICATOR_LEFT_FOUR"]) > 0
ret.rightBlindspot = (bsm_info["FR_INDICATOR"] + bsm_info["INDICATOR_RIGHT_TWO"] + bsm_info["INDICATOR_RIGHT_FOUR"]) > 0
# cruise state
if cp.vl[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"] in [Buttons.RES_ACCEL, Buttons.SET_DECEL] and self.CP.openpilotLongitudinalControl:
self.main_enabled = True
# CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
ret.cruiseState.available = self.main_enabled #cp.vl["TCS"]["ACCEnable"] == 0
if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
self.ACCMode = cp_cam.vl["SCC_CONTROL"]["ACCMode"]
self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["HDA_LFA_SymSta"]
if self.CP.openpilotLongitudinalControl:
# These are not used for engage/disengage since openpilot keeps track of state using the buttons
ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
ret.cruiseState.standstill = False
if self.MainMode_ACC:
self.main_enabled = True
else:
cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
if cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1: # carrot
ret.cruiseState.available = self.main_enabled = True
ret.pcmCruiseGap = int(np.clip(cp_cruise_info.vl["SCC_CONTROL"]["DISTANCE_SETTING"], 1, 4))
ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["InfoDisplay"] >= 4
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
ret.brakeHoldActive = cp.vl["ESP_STATUS"]["AUTO_HOLD"] == 1 and cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] not in (1, 2)
speed_limit_cam = False
if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
self.cruise_info = copy.copy(cp_cam.vl["SCC_CONTROL"])
self.lfa_info = copy.copy(cp_cam.vl["LFA"])
if self.CP.flags & HyundaiFlags.ANGLE_CONTROL.value:
self.lfa_alt_info = copy.copy(cp_cam.vl["LFA_ALT"])
if self.LFAHDA_CLUSTER:
self.lfahda_cluster_info = cp_cam.vl["LFAHDA_CLUSTER"]
corner = False
self.adrv_info_161 = cp_cam.vl["ADRV_0x161"] if self.CCNC_0x161 else None
self.adrv_info_162 = cp_cam.vl["CCNC_0x162"] if self.CCNC_0x162 else None
if self.adrv_info_161 is not None:
ret.leftLongDist = self.lf_distance = self.adrv_info_162["LF_DETECT_DISTANCE"]
ret.rightLongDist = self.rf_distance = self.adrv_info_162["RF_DETECT_DISTANCE"]
self.lr_distance = self.adrv_info_162["LR_DETECT_DISTANCE"]
self.rr_distance = self.adrv_info_162["RR_DETECT_DISTANCE"]
ret.leftLatDist = self.adrv_info_162["LF_DETECT_LATERAL"]
ret.rightLatDist = self.adrv_info_162["RF_DETECT_LATERAL"]
corner = True
self.adrv_info_200 = cp_cam.vl["ADRV_0x200"] if self.ADRV_0x200 else None
self.adrv_info_1ea = cp_cam.vl["ADRV_0x1ea"] if self.ADRV_0x1ea else None
if self.adrv_info_1ea is not None:
if not corner:
ret.leftLongDist = self.adrv_info_1ea["LF_DETECT_DISTANCE"]
ret.rightLongDist = self.adrv_info_1ea["RF_DETECT_DISTANCE"]
ret.leftLatDist = self.adrv_info_1ea["LF_DETECT_LATERAL"]
ret.rightLatDist = self.adrv_info_1ea["RF_DETECT_LATERAL"]
self.adrv_info_160 = cp_cam.vl["ADRV_0x160"] if self.ADRV_0x160 else None
self.hda_info_4a3 = cp.vl["HDA_INFO_4A3"] if self.HDA_INFO_4A3 else None
if self.hda_info_4a3 is not None:
speedLimit = self.hda_info_4a3["SPEED_LIMIT"]
if not self.is_metric:
speedLimit *= CV.MPH_TO_KPH
ret.speedLimit = speedLimit if speedLimit < 255 else 0
if int(self.hda_info_4a3["MapSource"]) == 2:
speed_limit_cam = True
if self.time_zone == "UTC":
country_code = int(self.hda_info_4a3["CountryCode"])
self.time_zone = ZoneInfo(NUMERIC_TO_TZ.get(country_code, "UTC"))
self.new_msg_4b4 = cp.vl["NEW_MSG_4B4"] if self.NEW_MSG_4B4 else None
self.tcs_info_373 = cp.vl["TCS"]
ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] if self.GEAR else 0
if 1 <= ret.gearStep <= 8 and ret.gearShifter == GearShifter.unknown:
ret.gearShifter = GearShifter.drive
ret.gearStep = cp.vl["GEAR_ALT"]["GEAR_STEP"] if self.GEAR_ALT else ret.gearStep
if cp_alt and self.CP.flags & HyundaiFlags.CAMERA_SCC:
lane_info = None
lane_info = cp_alt.vl["CAM_0x362"] if self.CAM_0x362 else None
lane_info = cp_alt.vl["CAM_0x2a4"] if self.CAM_0x2a4 else lane_info
if lane_info is not None:
left_lane_prob = lane_info["LEFT_LANE_PROB"]
right_lane_prob = lane_info["RIGHT_LANE_PROB"]
left_lane_type = lane_info["LEFT_LANE_TYPE"] # 0: dashed, 1: solid, 2: undecided, 3: road edge, 4: DLM Inner Solid, 5: DLM InnerDashed, 6:DLM Inner Undecided, 7: Botts Dots, 8: Barrier
right_lane_type = lane_info["RIGHT_LANE_TYPE"]
left_lane_color = lane_info["LEFT_LANE_COLOR"]
right_lane_color = lane_info["RIGHT_LANE_COLOR"]
left_lane_info = left_lane_color * 10 + left_lane_type
right_lane_info = right_lane_color * 10 + right_lane_type
ret.leftLaneLine = left_lane_info
ret.rightLaneLine = right_lane_info
# Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
# It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
# The car will brake, but does not respect positive acceleration commands in this mode
# TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
if self.CP.flags & HyundaiFlags.EV:
ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
if self.LOCAL_TIME and self.time_zone != "UTC":
lt = cp.vl["LOCAL_TIME"]
y, m, d, H, M, S = int(lt["YEAR"]) + 2000, int(lt["MONTH"]), int(lt["DATE"]), int(lt["HOURS"]), int(lt["MINUTES"]), int(lt["SECONDS"])
try:
dt_local = datetime(y, m, d, H, M, S, tzinfo=self.time_zone)
ret.datetime = int(dt_local.timestamp() * 1000)
except:
#print(f"Error parsing local time: {y}-{m}-{d} {H}:{M}:{S} in {self.time_zone}")
pass
prev_cruise_buttons = self.cruise_buttons[-1]
#self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
#carrot {{
if cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]:
cruise_button = [Buttons.LFA_BUTTON]
else:
cruise_button = cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]
self.cruise_buttons.extend(cruise_button)
# }} carrot
if self.cruise_btns_msg_canfd in cp.vl:
self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])
"""
if self.cruise_btns_msg_canfd in cp.vl: #carrot
if not cp.vl[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]:
pass
#print("empty cruise btns...")
else:
self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])
"""
prev_main_buttons = self.main_buttons[-1]
#self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
if self.main_buttons[-1] != prev_main_buttons and not self.main_buttons[-1]: # and self.CP.openpilotLongitudinalControl: #carrot
self.main_enabled = not self.main_enabled
print("main_enabled = {}".format(self.main_enabled))
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if not (self.CP.flags & HyundaiFlags.CAMERA_SCC):
if self.msg_0x362 is not None or 0x362 in cp_cam.seen_addresses:
self.msg_0x362 = cp_cam.vl["CAM_0x362"]
elif self.msg_0x2a4 is not None or 0x2a4 in cp_cam.seen_addresses:
self.msg_0x2a4 = cp_cam.vl["CAM_0x2a4"]
speed_conv = CV.KPH_TO_MS # if self.is_metric else CV.MPH_TO_MS
cluSpeed = cp.vl["CRUISE_BUTTONS_ALT"]["CLU_SPEED"]
ret.vEgoCluster = cluSpeed * speed_conv # MPH단위에서도 KPH로 나오는듯..
vEgoClu, aEgoClu = self.update_clu_speed_kf(ret.vEgoCluster)
ret.vCluRatio = (ret.vEgo / vEgoClu) if (vEgoClu > 3. and ret.vEgo > 3.) else 1.0
self.update_speed_limit(ret, speed_limit_cam)
paddle_button = self.paddle_button_prev
if self.cruise_btns_msg_canfd == "CRUISE_BUTTONS":
paddle_button = 1 if cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"] == 1 else 2 if cp.vl["CRUISE_BUTTONS"]["RIGHT_PADDLE"] == 1 else 0
elif self.gear_msg_canfd == "GEAR":
paddle_button = 1 if cp.vl["GEAR"]["LEFT_PADDLE"] == 1 else 2 if cp.vl["GEAR"]["RIGHT_PADDLE"] == 1 else 0
ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT),
*create_button_events(paddle_button, self.paddle_button_prev, {1: ButtonType.paddleLeft, 2: ButtonType.paddleRight}),
*create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})]
self.paddle_button_prev = paddle_button
return ret
def get_can_parsers_canfd(self, CP):
msgs = []
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
# TODO: this can be removed once we add dynamic support to vl_all
msgs += [
("CRUISE_BUTTONS", 50)
]
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, CanBus(CP).ECAN),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).CAM),
Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).ACAN),
}
def get_can_parsers(self, CP):
if CP.flags & HyundaiFlags.CANFD:
return self.get_can_parsers_canfd(CP)
return {
Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 0),
Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
}
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