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openpilot/opendbc_repo/opendbc/car/hyundai/carcontroller.py

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Release 260111
2026-01-11 18:23:29 +08:00
import numpy as np
from opendbc.can import CANPacker
from opendbc.car import Bus, DT_CTRL, apply_driver_steer_torque_limits, common_fault_avoidance, make_tester_present_msg, structs, apply_std_steer_angle_limits
from opendbc.car.common.conversions import Conversions as CV
from opendbc.car.hyundai import hyundaicanfd, hyundaican
from opendbc.car.hyundai.carstate import CarState
from opendbc.car.hyundai.hyundaicanfd import CanBus
from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CAN_GEARS, HyundaiExtFlags
from opendbc.car.interfaces import CarControllerBase
VisualAlert = structs.CarControl.HUDControl.VisualAlert
LongCtrlState = structs.CarControl.Actuators.LongControlState
from openpilot.common.params import Params
# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
# All slightly below EPS thresholds to avoid fault
MAX_ANGLE = 85
MAX_ANGLE_FRAMES = 89
MAX_ANGLE_CONSECUTIVE_FRAMES = 2
vibrate_intervals = [
(0.0, 0.5),
(1.0, 1.5),
#(2.5, 3.0),
#(3.5, 4.0),
(5.0, 5.5),
(6.0, 6.5),
(7.5, 8.0),
]
def process_hud_alert(enabled, fingerprint, hud_control):
sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
# initialize to no line visible
# TODO: this is not accurate for all cars
sys_state = 1
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 hud_control.leftLaneVisible:
sys_state = 5
elif hud_control.rightLaneVisible:
sys_state = 6
# initialize to no warnings
left_lane_warning = 0
right_lane_warning = 0
if hud_control.leftLaneDepart:
left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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
def calc_rate_limit_by_lat_accel(delta_deg: float,
v_ego: float,
wheelbase: float,
max_lat_accel: float,
max_rate_low: float,
max_rate_high: float) -> float:
"""
반환값: 허용 스티어링휠 각속도 (deg/s)
delta_deg : 현재 스티어링휠 각도 (deg)
v_ego : 속도 (m/s)
wheelbase : 축거 (m)
"""
# v가 너무 작으면 공식이 터지니까, 저속 전용 상수 사용
if v_ego < 0.5:
return max_rate_low # 예: 300 deg/s
delta_rad = np.radians(delta_deg)
# cos^2 항이 0에 가까워지면 rate가 폭발하니 하한 넣어줌
cos_delta = np.cos(delta_rad)
cos2 = max(cos_delta * cos_delta, 0.05) # 0.05 정도면 충분
# 물리식: |δ̇| <= L * a_lat_max / (v^2 * sec^2(δ))
# 여기서 sec^2(δ) = 1 / cos^2(δ)
delta_rate_rad_s = (wheelbase * max_lat_accel) / (v_ego * v_ego * cos2)
delta_rate_deg_s = np.degrees(delta_rate_rad_s)
# 저속에서는 너무 크지 않게, 고속에서는 너무 작지 않게 clip
# max_rate_high <= delta_rate_deg_s <= max_rate_low
return float(np.clip(delta_rate_deg_s, max_rate_high, max_rate_low))
class CarController(CarControllerBase):
def __init__(self, dbc_names, CP):
super().__init__(dbc_names, CP)
self.CAN = CanBus(CP)
self.params = CarControllerParams(CP)
self.packer = CANPacker(dbc_names[Bus.pt])
self.angle_limit_counter = 0
self.accel_last = 0
self.apply_torque_last = 0
self.car_fingerprint = CP.carFingerprint
self.last_button_frame = 0
self.hyundai_jerk = HyundaiJerk()
self.speedCameraHapticEndFrame = 0
self.hapticFeedbackWhenSpeedCamera = 0
self.max_angle_frames = MAX_ANGLE_FRAMES
self.blinking_signal = False # 1Hz
self.blinking_frame = int(1.0 / DT_CTRL)
self.soft_hold_mode = 2
self.activateCruise = 0
self.button_wait = 12
self.cruise_buttons_msg_values = None
self.cruise_buttons_msg_cnt = 0
self.button_spamming_count = 0
self.prev_clu_speed = 0
self.button_spam1 = 8
self.button_spam2 = 30
self.button_spam3 = 1
self.apply_angle_last = 0
self.lkas_max_torque = 0
self.angle_max_torque = 250
self.canfd_debug = 0
self.MainMode_ACC_trigger = 0
self.LFA_trigger = 0
self.activeCarrot = 0
self.camera_scc_params = Params().get_int("HyundaiCameraSCC")
self.is_ldws_car = Params().get_bool("IsLdwsCar")
self.steerDeltaUpOrg = self.steerDeltaUp = self.steerDeltaUpLC = self.params.STEER_DELTA_UP
self.steerDeltaDownOrg = self.steerDeltaDown = self.steerDeltaDownLC = self.params.STEER_DELTA_DOWN
def update(self, CC, CS, now_nanos):
if self.frame % 50 == 0:
params = Params()
self.max_angle_frames = params.get_int("MaxAngleFrames")
steerMax = params.get_int("CustomSteerMax")
steerDeltaUp = params.get_int("CustomSteerDeltaUp")
steerDeltaDown = params.get_int("CustomSteerDeltaDown")
steerDeltaUpLC = params.get_int("CustomSteerDeltaUpLC")
steerDeltaDownLC = params.get_int("CustomSteerDeltaDownLC")
if steerMax > 0:
self.params.STEER_MAX = steerMax
if steerDeltaUp > 0:
self.steerDeltaUp = steerDeltaUp
#self.params.ANGLE_TORQUE_UP_RATE = steerDeltaUp
else:
self.steerDeltaUp = self.steerDeltaUpOrg
if steerDeltaDown > 0:
self.steerDeltaDown = steerDeltaDown
#self.params.ANGLE_TORQUE_DOWN_RATE = steerDeltaDown
else:
self.steerDeltaDown = self.steerDeltaDownOrg
if steerDeltaUpLC > 0:
self.steerDeltaUpLC = steerDeltaUpLC
else:
self.steerDeltaUpLC = self.steerDeltaUp
if steerDeltaDownLC > 0:
self.steerDeltaDownLC = steerDeltaDownLC
else:
self.steerDeltaDownLC = self.steerDeltaDown
self.soft_hold_mode = 1 if params.get_int("AutoCruiseControl") > 1 else 2
self.hapticFeedbackWhenSpeedCamera = int(params.get_int("HapticFeedbackWhenSpeedCamera"))
self.button_spam1 = params.get_int("CruiseButtonTest1")
self.button_spam2 = params.get_int("CruiseButtonTest2")
self.button_spam3 = params.get_int("CruiseButtonTest3")
self.speed_from_pcm = params.get_int("SpeedFromPCM")
self.canfd_debug = params.get_int("CanfdDebug")
self.camera_scc_params = params.get_int("HyundaiCameraSCC")
actuators = CC.actuators
hud_control = CC.hudControl
if hud_control.modelDesire in [3,4]:
self.params.STEER_DELTA_UP = self.steerDeltaUpLC
self.params.STEER_DELTA_DOWN = self.steerDeltaDownLC
else:
self.params.STEER_DELTA_UP = self.steerDeltaUp
self.params.STEER_DELTA_DOWN = self.steerDeltaDown
angle_control = self.CP.flags & HyundaiFlags.ANGLE_CONTROL
# steering torque
new_torque = int(round(actuators.torque * self.params.STEER_MAX))
apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
# >90 degree steering fault prevention
self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
self.angle_limit_counter, self.max_angle_frames,
MAX_ANGLE_CONSECUTIVE_FRAMES)
#apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
# CS.out.steeringAngleDeg, CC.latActive, self.params.ANGLE_LIMITS)
MAX_LAT_ACCEL = 8.0
MAX_RATE_LOW = 200 # 저속, deg/s
MAX_RATE_HIGH = 40 # 고속, deg/s
UNWIND_SCALE = 1.5
UNWIND_MAX = 200
delta = actuators.steeringAngleDeg - self.apply_angle_last
same_dir = (np.sign(delta) == np.sign(self.apply_angle_last)) or (abs(self.apply_angle_last) < 2.0)
rate_deg_s = calc_rate_limit_by_lat_accel(self.apply_angle_last, CS.out.vEgoRaw, self.CP.wheelbase, MAX_LAT_ACCEL, MAX_RATE_LOW, MAX_RATE_HIGH)
if not same_dir:
rate_deg_s = min(rate_deg_s * UNWIND_SCALE, UNWIND_MAX)
rate_deg_per_tick = rate_deg_s * DT_CTRL
apply_angle = np.clip(actuators.steeringAngleDeg,
self.apply_angle_last - rate_deg_per_tick,
self.apply_angle_last + rate_deg_per_tick)
angle_limits = self.params.ANGLE_LIMITS
apply_angle = np.clip(apply_angle, -angle_limits.STEER_ANGLE_MAX, angle_limits.STEER_ANGLE_MAX)
#if abs(apply_angle - self.apply_angle_last) > 0.1:
# alpha = min(0.1 + 0.9 * CS.out.vEgoRaw / (30.0 * CV.KPH_TO_MS), 1.0)
# apply_angle = self.apply_angle_last * (1 - alpha) + apply_angle * alpha
v_ego_kph = CS.out.vEgoRaw * CV.MS_TO_KPH
if abs(apply_angle - self.apply_angle_last) < 0.1:
alpha = min(0.05 + 0.45 * v_ego_kph / 30.0, 0.5)
else:
alpha = 1.0 # min(0.1 + 0.9 * v_ego_kph / 30.0, 1.0)
apply_angle = self.apply_angle_last * (1 - alpha) + apply_angle * alpha
if angle_control:
apply_steer_req = CC.latActive
if CS.out.steeringPressed:
#self.apply_angle_last = CS.out.steeringAngleDeg
self.lkas_max_torque = self.lkas_max_torque = max(self.lkas_max_torque - 20, 25)
else:
target_torque = self.angle_max_torque
max_steering_tq = self.params.STEER_DRIVER_ALLOWANCE * 0.7
rate_ratio = max(20, max_steering_tq - abs(CS.out.steeringTorque)) / max_steering_tq
rate_up = self.params.ANGLE_TORQUE_UP_RATE * rate_ratio
rate_down = self.params.ANGLE_TORQUE_DOWN_RATE * rate_ratio
if self.lkas_max_torque > target_torque:
self.lkas_max_torque = max(self.lkas_max_torque - rate_down, target_torque)
else:
self.lkas_max_torque = min(self.lkas_max_torque + rate_up, target_torque)
if not CC.latActive:
apply_torque = 0
self.lkas_max_torque = 0
self.apply_angle_last = apply_angle
# Hold torque with induced temporary fault when cutting the actuation bit
torque_fault = CC.latActive and not apply_steer_req
self.apply_torque_last = apply_torque
# accel + longitudinal
accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
stopping = actuators.longControlState == LongCtrlState.stopping
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
# HUD messages
sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
hud_control)
active_speed_decel = hud_control.activeCarrot == 3 and self.activeCarrot != 3 # 3: Speed Decel
self.activeCarrot = hud_control.activeCarrot
if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작
self.speedCameraHapticEndFrame = self.frame + (8.0 / DT_CTRL) #8초간 켜줌.
elif not active_speed_decel:
self.speedCameraHapticEndFrame = -1
if 0 <= self.speedCameraHapticEndFrame - self.frame < int(8.0 / DT_CTRL) and self.hapticFeedbackWhenSpeedCamera > 0:
t = (self.frame - (self.speedCameraHapticEndFrame - int(8.0 / DT_CTRL))) * DT_CTRL
for start, end in vibrate_intervals:
if start <= t < end:
left_lane_warning = right_lane_warning = self.hapticFeedbackWhenSpeedCamera
break
if self.frame >= self.speedCameraHapticEndFrame:
self.speedCameraHapticEndFrame = -1
if self.frame % self.blinking_frame == 0:
self.blinking_signal = True
elif self.frame % self.blinking_frame == self.blinking_frame / 2:
self.blinking_signal = False
can_sends = []
# *** common hyundai stuff ***
# tester present - w/ no response (keeps relevant ECU disabled)
if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
# for longitudinal control, either radar or ADAS driving ECU
addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0
if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
addr, bus = 0x730, self.CAN.ECAN
can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
# for blinkers
if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
camera_scc = self.CP.flags & HyundaiFlags.CAMERA_SCC
# CAN-FD platforms
if self.CP.flags & HyundaiFlags.CANFD:
hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
hda2_long = hda2 and self.CP.openpilotLongitudinalControl
# steering control
if camera_scc:
can_sends.extend(hyundaicanfd.create_steering_messages_camera_scc(self.frame, self.packer, self.CP, self.CAN, CC, apply_steer_req, apply_torque, CS, apply_angle, self.lkas_max_torque, angle_control))
else:
can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, apply_angle, self.lkas_max_torque, angle_control))
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2 and not camera_scc:
can_sends.extend(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS))
# LFA and HDA icons
if self.frame % 5 == 0 and camera_scc:
can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive))
# blinkers
if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
if self.camera_scc_params in [2, 3]:
self.canfd_toggle_adas(CC, CS)
if self.CP.openpilotLongitudinalControl:
self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control)
self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget)
if True: #not camera_scc:
can_sends.extend(hyundaicanfd.create_ccnc_messages(self.CP, self.packer, self.CAN, self.frame, CC, CS, hud_control, apply_angle, left_lane_warning, right_lane_warning, self.canfd_debug, self.MainMode_ACC_trigger, self.LFA_trigger))
if hda2:
can_sends.extend(hyundaicanfd.create_adrv_messages(self.CP, self.packer, self.CAN, self.frame))
else:
can_sends.extend(hyundaicanfd.create_fca_warning_light(self.CP, self.packer, self.CAN, self.frame))
if self.frame % 2 == 0:
if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
can_sends.append(hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control, self.hyundai_jerk, CS))
can_sends.extend(hyundaicanfd.create_tcs_messages(self.packer, self.CAN, CS)) # for sorento SCC radar...
else:
can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
set_speed_in_units, hud_control, self.hyundai_jerk.jerk_u, self.hyundai_jerk.jerk_l, CS))
self.accel_last = accel
else:
# button presses
if self.camera_scc_params == 3: # camera scc but stock long
send_button = self.make_spam_button(CC, CS)
can_sends.extend(hyundaicanfd.forward_button_message(self.packer, self.CAN, self.frame, CS, send_button, self.MainMode_ACC_trigger, self.LFA_trigger))
else:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False))
else:
can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
left_lane_warning, right_lane_warning, self.is_ldws_car))
if not self.CP.openpilotLongitudinalControl:
can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True))
if self.CP.carFingerprint in CAN_GEARS["send_mdps12"]: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(hyundaican.create_mdps12(self.packer, self.frame, CS.mdps12))
casper_opt = self.CP.carFingerprint in (CAR.HYUNDAI_CASPER_EV)
if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control)
self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget)
#jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
if camera_scc:
can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, casper_opt, CS, self.soft_hold_mode))
else:
can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2),
hud_control, set_speed_in_units, stopping,
CC.cruiseControl.override, use_fca, self.CP, CS, self.soft_hold_mode))
# 20 Hz LFA MFA message
if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC, self.blinking_signal))
# 5 Hz ACC options
if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
if camera_scc:
if CS.scc13 is not None:
if casper_opt:
#can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer))
pass
pass
else:
can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP))
# 2 Hz front radar options
if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl and not camera_scc:
can_sends.append(hyundaican.create_frt_radar_opt(self.packer))
new_actuators = actuators.as_builder()
new_actuators.torque = apply_torque / self.params.STEER_MAX
new_actuators.torqueOutputCan = apply_torque
new_actuators.steeringAngleDeg = float(apply_angle)
new_actuators.accel = accel
self.frame += 1
return new_actuators, can_sends
def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool):
can_sends = []
if CS.out.brakePressed or CS.out.brakeHoldActive:
return can_sends
if use_clu11:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif False: #CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
if self.last_button_frame != self.frame:
send_button = self.make_spam_button(CC, CS)
if send_button > 0:
can_sends.append(hyundaican.create_clu11_button(self.packer, self.frame, CS.clu11, send_button, self.CP))
else:
# carrot.. 왜 alt_cruise_button는 값이 리스트일까?, 그리고 왜? 빈데이터가 들어오는것일까?
if CS.cruise_buttons_msg is not None and self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
try:
cruise_buttons_msg_values = {key: value[0] for key, value in CS.cruise_buttons_msg.items()}
except: # IndexError:
#print("IndexError....")
cruise_buttons_msg_values = None
self.cruise_buttons_msg_cnt += 1
if cruise_buttons_msg_values is not None:
self.cruise_buttons_msg_values = cruise_buttons_msg_values
self.cruise_buttons_msg_cnt = 0
if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
# cruise cancel
if CC.cruiseControl.cancel:
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
print("cruiseControl.cancel222222")
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
#can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
if self.cruise_buttons_msg_values is not None:
can_sends.append(hyundaicanfd.alt_cruise_buttons(self.packer, self.CP, self.CAN, Buttons.CANCEL, self.cruise_buttons_msg_values, self.cruise_buttons_msg_cnt))
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
self.last_button_frame = self.frame
# cruise standstill resume
elif False: #CC.cruiseControl.resume:
if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
# TODO: resume for alt button cars
pass
else:
for _ in range(20):
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
## button 스패밍을 안했을때...
if self.last_button_frame != self.frame:
dat = self.canfd_speed_control_pcm(CC, CS, self.cruise_buttons_msg_values)
if dat is not None:
for _ in range(self.button_spam3):
can_sends.append(dat)
self.cruise_buttons_msg_cnt += 1
return can_sends
def canfd_toggle_adas(self, CC, CS):
trigger_min = -200
trigger_start = 6
self.MainMode_ACC_trigger = max(trigger_min, self.MainMode_ACC_trigger - 1)
self.LFA_trigger = max(trigger_min, self.LFA_trigger - 1)
if self.MainMode_ACC_trigger == trigger_min and self.LFA_trigger == trigger_min:
if CC.enabled and not CS.MainMode_ACC and CS.out.vEgo > 3.:
self.MainMode_ACC_trigger = trigger_start
elif CC.latActive and CS.LFA_ICON == 0:
self.LFA_trigger = trigger_start
def canfd_speed_control_pcm(self, CC, CS, cruise_buttons_msg_values):
alt_buttons = True if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else False
if alt_buttons and cruise_buttons_msg_values is None:
return None
send_button = self.make_spam_button(CC, CS)
if send_button > 0:
if alt_buttons:
return hyundaicanfd.alt_cruise_buttons(self.packer, self.CP, self.CAN, send_button, cruise_buttons_msg_values, self.cruise_buttons_msg_cnt)
else:
return hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, send_button)
return None
def make_spam_button(self, CC, CS):
hud_control = CC.hudControl
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
target = int(set_speed_in_units+0.5)
current = int(CS.out.cruiseState.speed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) + 0.5)
v_ego_kph = CS.out.vEgo * CV.MS_TO_KPH
send_button = 0
activate_cruise = False
if CC.enabled:
if not CS.out.cruiseState.enabled:
if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0:
send_button = Buttons.RES_ACCEL
self.activateCruise = 1
activate_cruise = True
elif CC.cruiseControl.resume:
send_button = Buttons.RES_ACCEL
elif target < current and current>= 31 and self.speed_from_pcm != 1:
send_button = Buttons.SET_DECEL
elif target > current and current < 160 and self.speed_from_pcm != 1:
send_button = Buttons.RES_ACCEL
elif CS.out.activateCruise: #CC.cruiseControl.activate:
if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0:
self.activateCruise = 1
send_button = Buttons.RES_ACCEL
activate_cruise = True
if CS.out.brakePressed or CS.out.gasPressed:
self.activateCruise = 0
if send_button == 0:
self.button_spamming_count = 0
self.prev_clu_speed = current
return 0
speed_diff = self.prev_clu_speed - current
spamming_max = self.button_spam1
if CS.cruise_buttons[-1] != Buttons.NONE:
self.last_button_frame = self.frame
self.button_wait = self.button_spam2
self.button_spamming_count = 0
elif abs(self.button_spamming_count) >= spamming_max or abs(speed_diff) > 0:
self.last_button_frame = self.frame
self.button_wait = self.button_spam2 if abs(self.button_spamming_count) >= spamming_max else 7
self.button_spamming_count = 0
self.prev_clu_speed = current
send_button_allowed = (self.frame - self.last_button_frame) > self.button_wait
#CC.debugTextCC = "{} speed_diff={:.1f},{:.0f}/{:.0f}, button={}, button_wait={}, count={}".format(
# send_button_allowed, speed_diff, target, current, send_button, self.button_wait, self.button_spamming_count)
if send_button_allowed or activate_cruise or (CC.cruiseControl.resume and self.frame % 2 == 0):
self.button_spamming_count = self.button_spamming_count + 1 if send_button == Buttons.RES_ACCEL else self.button_spamming_count - 1
return send_button
else:
self.button_spamming_count = 0
return 0
from openpilot.common.filter_simple import MyMovingAverage
class HyundaiJerk:
def __init__(self):
self.params = Params()
self.jerk = 0.0
self.jerk_u = self.jerk_l = 0.0
self.cb_upper = self.cb_lower = 0.0
self.jerk_u_min = 0.5
self.carrot_cruise = 1
self.carrot_cruise_accel = 0.0
def check_carrot_cruise(self, CC, CS, hud_control, stopping, accel, a_target):
carrot_cruise_decel = self.params.get_float("CarrotCruiseDecel")
carrot_cruise_atc_decel = self.params.get_float("CarrotCruiseAtcDecel")
if carrot_cruise_atc_decel >= 0 and 0 < hud_control.atcDistance < 500:
carrot_cruise_decel = max(carrot_cruise_decel, carrot_cruise_atc_decel)
self.carrot_cruise = 0
if CS.out.carrotCruise > 0 and not CC.cruiseControl.override:
if CS.softHoldActive == 0 and not stopping:
if CS.out.vEgo > 10/3.6:
if carrot_cruise_decel < 0:
if (a_target > -0.1 or accel > -0.1):
self.carrot_cruise = 1
self.carrot_cruise_accel = 0.0
else:
self.carrot_cruise = 2
carrot_cruise = min(accel, -carrot_cruise_decel * 0.01)
self.carrot_cruise_accel = max(carrot_cruise, self.carrot_cruise_accel - 1.0 * DT_CTRL) # 점진적으로 줄임.
if self.carrot_cruise == 0:
self.carrot_cruise_accel = CS.out.aEgo
def make_jerk(self, CP, CS, accel, actuators, hud_control):
if actuators.longControlState == LongCtrlState.stopping:
self.jerk = self.jerk_u_min / 2 - CS.out.aEgo
else:
jerk = actuators.jerk if actuators.longControlState == LongCtrlState.pid else 0.0
#a_error = actuators.aTarget - CS.out.aEgo
self.jerk = jerk# + a_error
jerk_max_l = 5.0
jerk_max_u = jerk_max_l
if actuators.longControlState == LongCtrlState.off:
self.jerk_u = jerk_max_u
self.jerk_l = jerk_max_l
self.cb_upper = self.cb_lower = 0.0
else:
if CP.flags & HyundaiFlags.CANFD:
self.jerk_u = min(max(self.jerk_u_min, self.jerk * 2.0), jerk_max_u)
self.jerk_l = min(max(1.0, -self.jerk * 4.0), jerk_max_l)
self.cb_upper = self.cb_lower = 0.0
else:
self.jerk_u = min(max(self.jerk_u_min, self.jerk * 2.0), jerk_max_u)
self.jerk_l = min(max(1.0, -self.jerk * 2.0), jerk_max_l)
self.cb_upper = np.clip(0.9 + accel * 0.2, 0, 1.2)
self.cb_lower = np.clip(0.8 + accel * 0.2, 0, 1.2)
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