Release 260111
This commit is contained in:
Comma Device
637
opendbc_repo/opendbc/car/hyundai/carcontroller.py
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637
opendbc_repo/opendbc/car/hyundai/carcontroller.py
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import numpy as np
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from opendbc.can import CANPacker
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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
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.hyundai import hyundaicanfd, hyundaican
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from opendbc.car.hyundai.carstate import CarState
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from opendbc.car.hyundai.hyundaicanfd import CanBus
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from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CAN_GEARS, HyundaiExtFlags
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from opendbc.car.interfaces import CarControllerBase
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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LongCtrlState = structs.CarControl.Actuators.LongControlState
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from openpilot.common.params import Params
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# EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second
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# All slightly below EPS thresholds to avoid fault
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MAX_ANGLE = 85
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MAX_ANGLE_FRAMES = 89
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MAX_ANGLE_CONSECUTIVE_FRAMES = 2
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vibrate_intervals = [
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(0.0, 0.5),
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(1.0, 1.5),
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#(2.5, 3.0),
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#(3.5, 4.0),
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(5.0, 5.5),
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(6.0, 6.5),
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(7.5, 8.0),
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]
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def process_hud_alert(enabled, fingerprint, hud_control):
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sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
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# initialize to no line visible
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# TODO: this is not accurate for all cars
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sys_state = 1
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if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active
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sys_state = 3 if enabled or sys_warning else 4
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elif hud_control.leftLaneVisible:
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sys_state = 5
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elif hud_control.rightLaneVisible:
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sys_state = 6
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# initialize to no warnings
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left_lane_warning = 0
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right_lane_warning = 0
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if hud_control.leftLaneDepart:
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left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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if hud_control.rightLaneDepart:
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right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
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return sys_warning, sys_state, left_lane_warning, right_lane_warning
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def calc_rate_limit_by_lat_accel(delta_deg: float,
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v_ego: float,
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wheelbase: float,
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max_lat_accel: float,
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max_rate_low: float,
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max_rate_high: float) -> float:
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"""
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반환값: 허용 스티어링휠 각속도 (deg/s)
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delta_deg : 현재 스티어링휠 각도 (deg)
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v_ego : 속도 (m/s)
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wheelbase : 축거 (m)
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"""
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# v가 너무 작으면 공식이 터지니까, 저속 전용 상수 사용
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if v_ego < 0.5:
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return max_rate_low # 예: 300 deg/s
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delta_rad = np.radians(delta_deg)
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# cos^2 항이 0에 가까워지면 rate가 폭발하니 하한 넣어줌
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cos_delta = np.cos(delta_rad)
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cos2 = max(cos_delta * cos_delta, 0.05) # 0.05 정도면 충분
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# 물리식: |δ̇| <= L * a_lat_max / (v^2 * sec^2(δ))
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# 여기서 sec^2(δ) = 1 / cos^2(δ)
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delta_rate_rad_s = (wheelbase * max_lat_accel) / (v_ego * v_ego * cos2)
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delta_rate_deg_s = np.degrees(delta_rate_rad_s)
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# 저속에서는 너무 크지 않게, 고속에서는 너무 작지 않게 clip
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# max_rate_high <= delta_rate_deg_s <= max_rate_low
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return float(np.clip(delta_rate_deg_s, max_rate_high, max_rate_low))
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP):
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super().__init__(dbc_names, CP)
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self.CAN = CanBus(CP)
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self.params = CarControllerParams(CP)
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self.packer = CANPacker(dbc_names[Bus.pt])
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self.angle_limit_counter = 0
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self.accel_last = 0
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self.apply_torque_last = 0
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self.car_fingerprint = CP.carFingerprint
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self.last_button_frame = 0
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self.hyundai_jerk = HyundaiJerk()
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self.speedCameraHapticEndFrame = 0
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self.hapticFeedbackWhenSpeedCamera = 0
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self.max_angle_frames = MAX_ANGLE_FRAMES
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self.blinking_signal = False # 1Hz
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self.blinking_frame = int(1.0 / DT_CTRL)
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self.soft_hold_mode = 2
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self.activateCruise = 0
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self.button_wait = 12
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self.cruise_buttons_msg_values = None
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self.cruise_buttons_msg_cnt = 0
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self.button_spamming_count = 0
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self.prev_clu_speed = 0
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self.button_spam1 = 8
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self.button_spam2 = 30
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self.button_spam3 = 1
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self.apply_angle_last = 0
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self.lkas_max_torque = 0
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self.angle_max_torque = 250
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self.canfd_debug = 0
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self.MainMode_ACC_trigger = 0
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self.LFA_trigger = 0
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self.activeCarrot = 0
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self.camera_scc_params = Params().get_int("HyundaiCameraSCC")
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self.is_ldws_car = Params().get_bool("IsLdwsCar")
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self.steerDeltaUpOrg = self.steerDeltaUp = self.steerDeltaUpLC = self.params.STEER_DELTA_UP
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self.steerDeltaDownOrg = self.steerDeltaDown = self.steerDeltaDownLC = self.params.STEER_DELTA_DOWN
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def update(self, CC, CS, now_nanos):
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if self.frame % 50 == 0:
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params = Params()
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self.max_angle_frames = params.get_int("MaxAngleFrames")
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steerMax = params.get_int("CustomSteerMax")
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steerDeltaUp = params.get_int("CustomSteerDeltaUp")
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steerDeltaDown = params.get_int("CustomSteerDeltaDown")
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steerDeltaUpLC = params.get_int("CustomSteerDeltaUpLC")
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steerDeltaDownLC = params.get_int("CustomSteerDeltaDownLC")
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if steerMax > 0:
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self.params.STEER_MAX = steerMax
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if steerDeltaUp > 0:
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self.steerDeltaUp = steerDeltaUp
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#self.params.ANGLE_TORQUE_UP_RATE = steerDeltaUp
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else:
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self.steerDeltaUp = self.steerDeltaUpOrg
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if steerDeltaDown > 0:
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self.steerDeltaDown = steerDeltaDown
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#self.params.ANGLE_TORQUE_DOWN_RATE = steerDeltaDown
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else:
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self.steerDeltaDown = self.steerDeltaDownOrg
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if steerDeltaUpLC > 0:
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self.steerDeltaUpLC = steerDeltaUpLC
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else:
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self.steerDeltaUpLC = self.steerDeltaUp
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if steerDeltaDownLC > 0:
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self.steerDeltaDownLC = steerDeltaDownLC
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else:
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self.steerDeltaDownLC = self.steerDeltaDown
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self.soft_hold_mode = 1 if params.get_int("AutoCruiseControl") > 1 else 2
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self.hapticFeedbackWhenSpeedCamera = int(params.get_int("HapticFeedbackWhenSpeedCamera"))
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self.button_spam1 = params.get_int("CruiseButtonTest1")
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self.button_spam2 = params.get_int("CruiseButtonTest2")
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self.button_spam3 = params.get_int("CruiseButtonTest3")
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self.speed_from_pcm = params.get_int("SpeedFromPCM")
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self.canfd_debug = params.get_int("CanfdDebug")
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self.camera_scc_params = params.get_int("HyundaiCameraSCC")
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actuators = CC.actuators
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hud_control = CC.hudControl
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if hud_control.modelDesire in [3,4]:
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self.params.STEER_DELTA_UP = self.steerDeltaUpLC
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self.params.STEER_DELTA_DOWN = self.steerDeltaDownLC
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else:
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self.params.STEER_DELTA_UP = self.steerDeltaUp
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self.params.STEER_DELTA_DOWN = self.steerDeltaDown
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angle_control = self.CP.flags & HyundaiFlags.ANGLE_CONTROL
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# steering torque
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new_torque = int(round(actuators.torque * self.params.STEER_MAX))
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apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params)
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# >90 degree steering fault prevention
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self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
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self.angle_limit_counter, self.max_angle_frames,
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MAX_ANGLE_CONSECUTIVE_FRAMES)
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#apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
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# CS.out.steeringAngleDeg, CC.latActive, self.params.ANGLE_LIMITS)
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MAX_LAT_ACCEL = 8.0
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MAX_RATE_LOW = 200 # 저속, deg/s
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MAX_RATE_HIGH = 40 # 고속, deg/s
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UNWIND_SCALE = 1.5
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UNWIND_MAX = 200
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delta = actuators.steeringAngleDeg - self.apply_angle_last
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same_dir = (np.sign(delta) == np.sign(self.apply_angle_last)) or (abs(self.apply_angle_last) < 2.0)
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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)
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if not same_dir:
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rate_deg_s = min(rate_deg_s * UNWIND_SCALE, UNWIND_MAX)
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rate_deg_per_tick = rate_deg_s * DT_CTRL
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apply_angle = np.clip(actuators.steeringAngleDeg,
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self.apply_angle_last - rate_deg_per_tick,
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self.apply_angle_last + rate_deg_per_tick)
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angle_limits = self.params.ANGLE_LIMITS
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apply_angle = np.clip(apply_angle, -angle_limits.STEER_ANGLE_MAX, angle_limits.STEER_ANGLE_MAX)
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#if abs(apply_angle - self.apply_angle_last) > 0.1:
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# alpha = min(0.1 + 0.9 * CS.out.vEgoRaw / (30.0 * CV.KPH_TO_MS), 1.0)
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# apply_angle = self.apply_angle_last * (1 - alpha) + apply_angle * alpha
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v_ego_kph = CS.out.vEgoRaw * CV.MS_TO_KPH
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if abs(apply_angle - self.apply_angle_last) < 0.1:
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alpha = min(0.05 + 0.45 * v_ego_kph / 30.0, 0.5)
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else:
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alpha = 1.0 # min(0.1 + 0.9 * v_ego_kph / 30.0, 1.0)
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apply_angle = self.apply_angle_last * (1 - alpha) + apply_angle * alpha
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if angle_control:
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apply_steer_req = CC.latActive
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if CS.out.steeringPressed:
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#self.apply_angle_last = CS.out.steeringAngleDeg
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self.lkas_max_torque = self.lkas_max_torque = max(self.lkas_max_torque - 20, 25)
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else:
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target_torque = self.angle_max_torque
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max_steering_tq = self.params.STEER_DRIVER_ALLOWANCE * 0.7
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rate_ratio = max(20, max_steering_tq - abs(CS.out.steeringTorque)) / max_steering_tq
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rate_up = self.params.ANGLE_TORQUE_UP_RATE * rate_ratio
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rate_down = self.params.ANGLE_TORQUE_DOWN_RATE * rate_ratio
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if self.lkas_max_torque > target_torque:
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self.lkas_max_torque = max(self.lkas_max_torque - rate_down, target_torque)
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else:
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self.lkas_max_torque = min(self.lkas_max_torque + rate_up, target_torque)
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if not CC.latActive:
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apply_torque = 0
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self.lkas_max_torque = 0
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self.apply_angle_last = apply_angle
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# Hold torque with induced temporary fault when cutting the actuation bit
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torque_fault = CC.latActive and not apply_steer_req
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self.apply_torque_last = apply_torque
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# accel + longitudinal
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accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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stopping = actuators.longControlState == LongCtrlState.stopping
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set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
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# HUD messages
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sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
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hud_control)
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active_speed_decel = hud_control.activeCarrot == 3 and self.activeCarrot != 3 # 3: Speed Decel
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self.activeCarrot = hud_control.activeCarrot
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if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작
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self.speedCameraHapticEndFrame = self.frame + (8.0 / DT_CTRL) #8초간 켜줌.
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elif not active_speed_decel:
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self.speedCameraHapticEndFrame = -1
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if 0 <= self.speedCameraHapticEndFrame - self.frame < int(8.0 / DT_CTRL) and self.hapticFeedbackWhenSpeedCamera > 0:
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t = (self.frame - (self.speedCameraHapticEndFrame - int(8.0 / DT_CTRL))) * DT_CTRL
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for start, end in vibrate_intervals:
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if start <= t < end:
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left_lane_warning = right_lane_warning = self.hapticFeedbackWhenSpeedCamera
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break
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if self.frame >= self.speedCameraHapticEndFrame:
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self.speedCameraHapticEndFrame = -1
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if self.frame % self.blinking_frame == 0:
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self.blinking_signal = True
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elif self.frame % self.blinking_frame == self.blinking_frame / 2:
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self.blinking_signal = False
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can_sends = []
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# *** common hyundai stuff ***
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# tester present - w/ no response (keeps relevant ECU disabled)
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if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl:
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# for longitudinal control, either radar or ADAS driving ECU
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addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0
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if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
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addr, bus = 0x730, self.CAN.ECAN
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can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True))
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# for blinkers
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if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))
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camera_scc = self.CP.flags & HyundaiFlags.CAMERA_SCC
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# CAN-FD platforms
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if self.CP.flags & HyundaiFlags.CANFD:
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hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2
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hda2_long = hda2 and self.CP.openpilotLongitudinalControl
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# steering control
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if camera_scc:
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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))
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else:
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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))
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# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
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if self.frame % 5 == 0 and hda2 and not camera_scc:
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can_sends.extend(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS))
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# LFA and HDA icons
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if self.frame % 5 == 0 and camera_scc:
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can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive))
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# blinkers
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if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
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can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
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if self.camera_scc_params in [2, 3]:
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self.canfd_toggle_adas(CC, CS)
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if self.CP.openpilotLongitudinalControl:
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self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control)
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self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget)
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if True: #not camera_scc:
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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))
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if hda2:
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can_sends.extend(hyundaicanfd.create_adrv_messages(self.CP, self.packer, self.CAN, self.frame))
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else:
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can_sends.extend(hyundaicanfd.create_fca_warning_light(self.CP, self.packer, self.CAN, self.frame))
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if self.frame % 2 == 0:
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if self.CP.flags & HyundaiFlags.CAMERA_SCC.value:
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can_sends.append(hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
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set_speed_in_units, hud_control, self.hyundai_jerk, CS))
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can_sends.extend(hyundaicanfd.create_tcs_messages(self.packer, self.CAN, CS)) # for sorento SCC radar...
|
||||
else:
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||||
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)
|
||||
|
||||
Reference in New Issue
Block a user