def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart, set_speed, lead_visible, controls):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# Steering Torque
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle, -1 * (STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang - apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
lkas_active = enabled and abs(CS.out.steeringAngle) < 90. and not spas_active
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 60 * CV.KPH_TO_MS and self.car_fingerprint == CAR.GENESIS and not CS.mdps_bus:
lkas_active = False
# Disable steering while turning blinker on and speed below 60 kph
if CS.out.leftBlinker or CS.out.rightBlinker:
self.turning_signal_timer = 0.5 / DT_CTRL # Disable for 0.5 Seconds after blinker turned off
if self.turning_indicator_alert and CS.out.vEgo < 2 * CV.KPH_TO_MS: # set and clear by interface
lkas_active = 0
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning = \
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12["CR_VSM_Alive"] + 1 if not CS.no_radar else 0
# TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(create_clu11(self.packer, frame % 0x10, CS.mdps_bus, CS.clu11, Buttons.NONE, enabled_speed))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(create_clu11(self.packer, frame % 0x10, CS.scc_bus, CS.clu11, Buttons.CANCEL, clu11_speed))
# fix auto resume - by neokii
if CS.out.cruiseState.standstill:
if self.last_lead_distance == 0:
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.resume_wait_timer = 0
# scc smoother
elif self.scc_smoother.is_active(frame):
pass
elif self.resume_wait_timer > 0:
self.resume_wait_timer -= 1
elif CS.lead_distance != self.last_lead_distance:
can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.scc_bus, CS.clu11, Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt >= 8:
self.resume_cnt = 0
self.resume_wait_timer = SccSmoother.get_wait_count()
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
# scc smoother
if not self.longcontrol:
self.scc_smoother.update(enabled, can_sends, self.packer, CC, CS, frame, apply_accel, controls)
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus or not self.scc_live) and frame % 2 == 0:
can_sends.append(create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt, self.scc_live, CS.scc12))
can_sends.append(create_scc11(self.packer, frame, enabled, set_speed, lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(create_spas11(self.packer, self.car_fingerprint, (frame // 2), self.en_spas, self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, controls):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * CarControllerParams.ACCEL_SCALE,
CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
# Steering Torque
new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
lkas_active = enabled and abs(CS.out.steeringAngleDeg) < 90.
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 60 * CV.KPH_TO_MS and self.car_fingerprint == CAR.GENESIS and not CS.mdps_bus:
lkas_active = False
# Disable steering while turning blinker on and speed below 60 kph
if CS.out.leftBlinker or CS.out.rightBlinker:
self.turning_signal_timer = 0.5 / DT_CTRL # Disable for 0.5 Seconds after blinker turned off
if self.turning_indicator_alert and CS.out.vEgo < 2 * CV.KPH_TO_MS: # set and clear by interface
lkas_active = 0
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning = \
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
controls.clu_speed_ms = clu11_speed * CV.KPH_TO_MS
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] + 1 if not CS.no_radar else 0
# TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
# apply_steer = interp(CS.out.vEgo, [0., 3.], [0., 1.])
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame // 2 % 0x10, CS.mdps_bus,
CS.clu11, Buttons.NONE, enabled_speed))
if pcm_cancel_cmd and (self.longcontrol and not self.mad_mode_enabled):
can_sends.append(
create_clu11(self.packer, frame % 0x10, CS.scc_bus, CS.clu11,
Buttons.CANCEL, clu11_speed))
# fix auto resume - by neokii
if CS.out.cruiseState.standstill:
if self.last_lead_distance == 0:
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.resume_wait_timer = 0
# scc smoother
elif self.scc_smoother.is_active(frame):
pass
elif self.resume_wait_timer > 0:
self.resume_wait_timer -= 1
elif CS.lead_distance != self.last_lead_distance:
can_sends.append(
create_clu11(self.packer, self.resume_cnt, CS.scc_bus,
CS.clu11, Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt >= 8:
self.resume_cnt = 0
self.resume_wait_timer = SccSmoother.get_wait_count()
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
# scc smoother
self.scc_smoother.update(enabled, can_sends, self.packer, CC, CS,
frame, apply_accel, controls)
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
controls.apply_accel = apply_accel
aReqValue = CS.scc12["aReqValue"]
controls.aReqValue = aReqValue
if aReqValue < controls.aReqValueMin:
controls.aReqValueMin = controls.aReqValue
if aReqValue > controls.aReqValueMax:
controls.aReqValueMax = controls.aReqValue
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and CS.cruiseState_enabled and (
CS.scc_bus or not self.scc_live) and frame % 2 == 0:
apply_accel, lead_drel = self.scc_smoother.get_fused_accel(
apply_accel, aReqValue, controls.sm)
controls.fused_accel = apply_accel
controls.lead_drel = lead_drel
can_sends.append(
create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt,
self.scc_live, CS.scc12))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
controls.sm['radarState'], self.scc_live,
CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfahda_mfc(self.packer, enabled))
return can_sends
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart, set_speed, lead_visible, sm):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
param = self.p
#self.model_speed = 255 - self.SC.calc_va(sm, CS.out.vEgo)
#atom model_speed
#self.model_speed = self.SC.cal_model_speed(sm, CS.out.vEgo)
#self.curve_speed = self.SC.cal_curve_speed(sm, CS.out.vEgo, frame)
plan = sm['longitudinalPlan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
self.target_map_speed_camera = plan.targetSpeedCamera
self.accActive = CS.acc_active
lateral_plan = sm['lateralPlan']
self.outScale = lateral_plan.outputScale
self.vCruiseSet = lateral_plan.vCruiseSet
#self.model_speed = interp(abs(lateral_plan.vCurvature), [0.0002, 0.01], [255, 30])
#Hoya
self.model_speed = interp(abs(lateral_plan.vCurvature), [0.0, 0.0002, 0.00074, 0.0025, 0.008, 0.02], [255, 255, 130, 90, 60, 20])
if CS.out.vEgo > 8:
if self.variable_steer_max:
self.steerMax = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerMax_range)
else:
self.steerMax = int(self.params.get("SteerMaxBaseAdj", encoding='utf8'))
if self.variable_steer_delta:
self.steerDeltaUp = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaUp_range)
self.steerDeltaDown = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaDown_range)
else:
self.steerDeltaUp = int(self.params.get("SteerDeltaUpBaseAdj", encoding='utf8'))
self.steerDeltaDown = int(self.params.get("SteerDeltaDownBaseAdj", encoding='utf8'))
else:
self.steerMax = int(self.params.get("SteerMaxBaseAdj", encoding='utf8'))
self.steerDeltaUp = int(self.params.get("SteerDeltaUpBaseAdj", encoding='utf8'))
self.steerDeltaDown = int(self.params.get("SteerDeltaDownBaseAdj", encoding='utf8'))
param.STEER_MAX = min(CarControllerParams.STEER_MAX, self.steerMax) # variable steermax
param.STEER_DELTA_UP = min(CarControllerParams.STEER_DELTA_UP, self.steerDeltaUp) # variable deltaUp
param.STEER_DELTA_DOWN = min(CarControllerParams.STEER_DELTA_DOWN, self.steerDeltaDown) # variable deltaDown
#param.STEER_DELTA_UP = CarControllerParams.STEER_DELTA_UP # fixed deltaUp
#param.STEER_DELTA_DOWN = CarControllerParams.STEER_DELTA_DOWN # fixed deltaDown
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = int(round(actuators.steer * self.steerMax * (self.driver_steering_torque_above_timer / 100)))
else:
new_steer = int(round(actuators.steer * self.steerMax))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, param)
self.steer_rate_limited = new_steer != apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steeringAngleDeg, -1*(STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang - apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
if self.opkr_maxanglelimit >= 90:
lkas_active = enabled and abs(CS.out.steeringAngleDeg) < self.opkr_maxanglelimit and not spas_active
else:
lkas_active = enabled and not spas_active
if (( CS.out.leftBlinker and not CS.out.rightBlinker) or ( CS.out.rightBlinker and not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN and self.opkr_turnsteeringdisable:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque) > 180 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
if CS.acc_active and CS.lead_distance > 149 and self.dRel < ((CS.out.vEgo * CV.MS_TO_KPH)+5) < 100 and self.vRel < -5 and CS.out.vEgo > 7 and abs(lateral_plan.steerAngleDesireDeg) < 15:
self.need_brake_timer += 1
if self.need_brake_timer > 50:
self.need_brake = True
else:
self.need_brake = False
self.need_brake_timer = 0
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not(min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12["CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11, Buttons.NONE, enabled_speed))
str_log1 = 'CV={:03.0f} TQ={:03.0f} R={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f}'.format(abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(), self.steerMax, self.steerDeltaUp, self.steerDeltaDown)
if self.params.get("OpkrLiveTune", encoding='utf8') == "1":
if int(self.params.get("LateralControlMethod", encoding='utf8')) == 0:
self.str_log2 = 'T={:0.2f}/{:0.3f}/{:0.2f}/{:0.5f}'.format(float(int(self.params.get("PidKp", encoding='utf8')) * 0.01), float(int(self.params.get("PidKi", encoding='utf8')) * 0.001), float(int(self.params.get("PidKd", encoding='utf8')) * 0.01), float(int(self.params.get("PidKf", encoding='utf8')) * 0.00001))
elif int(self.params.get("LateralControlMethod", encoding='utf8')) == 1:
self.str_log2 = 'T={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(float(int(self.params.get("InnerLoopGain", encoding='utf8')) * 0.1), float(int(self.params.get("OuterLoopGain", encoding='utf8')) * 0.1), float(int(self.params.get("TimeConstant", encoding='utf8')) * 0.1), float(int(self.params.get("ActuatorEffectiveness", encoding='utf8')) * 0.1))
elif int(self.params.get("LateralControlMethod", encoding='utf8')) == 2:
self.str_log2 = 'T={:04.0f}/{:05.3f}/{:06.4f}'.format(float(int(self.params.get("Scale", encoding='utf8')) * 1.0), float(int(self.params.get("LqrKi", encoding='utf8')) * 0.001), float(int(self.params.get("DcGain", encoding='utf8')) * 0.0001))
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (CS.out.cruiseState.modeSel == 1 or CS.out.cruiseState.modeSel == 2 or CS.out.cruiseState.modeSel == 3)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "OpenPilot"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "Dist+Curv"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "DistOnly"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "OneWay"
if CS.out.steerWarning == 0:
self.mdps_status = "OK"
elif CS.out.steerWarning == 1:
self.mdps_status = "ERR"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
if CS.lead_distance < 149:
self.leadcar_status = "O"
else:
self.leadcar_status = "-"
str_log2 = 'MODE={:s} MDPS={:s} LKAS={:s} CSG={:1.0f} LEAD={:s}'.format(self.steer_mode, self.mdps_status, self.lkas_switch, self.cruise_gap, self.leadcar_status)
trace1.printf2( '{}'.format( str_log2 ) )
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.CANCEL, clu11_speed))
if CS.out.cruiseState.standstill:
self.standstill_status = 1
if self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.res_switch_timer = 0
self.standstill_fault_reduce_timer += 1
elif self.res_switch_timer > 0:
self.res_switch_timer -= 1
self.standstill_fault_reduce_timer += 1
# at least 1 sec delay after entering the standstill
elif 100 < self.standstill_fault_reduce_timer and CS.lead_distance != self.last_lead_distance:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.res_switch_timer = randint(10, 15)
self.standstill_fault_reduce_timer += 1
# gap save
elif 160 < self.standstill_fault_reduce_timer and self.cruise_gap_prev == 0 and self.opkr_autoresume:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
# gap adjust to 1 for fast start
elif 160 < self.standstill_fault_reduce_timer and CS.cruiseGapSet != 1.0 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.opkr_autoresume:
self.standstill_fault_reduce_timer += 1
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.scc_bus, CS.clu11, self.SC.btn_type, self.SC.sc_clu_speed))
self.resume_cnt += 1
else:
self.resume_cnt = 0
# gap restore
if self.dRel > 17 and self.vRel < 5 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet and self.opkr_autoresume:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
if CS.out.brakeLights and CS.out.vEgo == 0 and not CS.acc_active:
self.standstill_status_timer += 1
if self.standstill_status_timer > 200:
self.standstill_status = 1
self.standstill_status_timer = 0
if self.standstill_status == 1 and CS.out.vEgo > 1:
self.standstill_status = 0
self.standstill_fault_reduce_timer = 0
self.v_set_dis_prev = 180
self.last_resume_frame = frame
self.res_switch_timer = 0
self.resume_cnt = 0
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus or not self.scc_live) and frame % 2 == 0:
can_sends.append(create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt, self.scc_live, CS.scc12))
can_sends.append(create_scc11(self.packer, frame, enabled, set_speed, lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfahda_mfa"]:
can_sends.append(create_lfahda_mfc(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(create_spas11(self.packer, self.car_fingerprint, (frame // 2), self.en_spas, self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# Steering Torque
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle,
-1 * (STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang -
apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (
self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
# temporarily disable steering when LKAS button off
lkas_active = enabled and abs(
CS.out.steeringAngle
) < 90. and self.lkas_button_on and not spas_active
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 60 * CV.KPH_TO_MS and self.car_fingerprint == CAR.HYUNDAI_GENESIS and not CS.mdps_bus:
lkas_active = False
# Disable steering while turning blinker on and speed below 60 kph
if CS.out.leftBlinker or CS.out.rightBlinker:
if self.car_fingerprint not in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
self.turning_signal_timer = 100 # Disable for 1.0 Seconds after blinker turned off
elif CS.left_blinker_flash or CS.right_blinker_flash: # Optima has blinker flash signal only
self.turning_signal_timer = 100
if self.turning_indicator_alert: # set and clear by interface
lkas_active = 0
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11,
Buttons.NONE, enabled_speed))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.CANCEL, clu11_speed))
elif CS.out.cruiseState.standstill:
# SCC won't resume anyway when the lead distace is less than 3.7m
# send resume at a max freq of 5Hz
if CS.lead_distance > 3.7 and (
frame - self.last_resume_frame) * DT_CTRL > 0.2:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.last_resume_frame = frame
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus
or not self.scc_live) and frame % 2 == 0:
can_sends.append(
create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt,
self.scc_live, CS.scc12))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(
create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas == 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(
create_spas11(self.packer, self.car_fingerprint,
(frame // 2), self.en_spas,
self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
# DIY cruise speed code
sm.update(0)
lead_data = sm['radarState'].leadOne
lead_one = sm['radarState'].leadOne
lead_two = sm['radarState'].leadTwo
if lead_one.status == True:
lead_data = lead_one
if lead_two.status == True and ((lead_one.dRel - lead_two.dRel) > 3.0):
lead_data = lead_two
lead_rel_dist = lead_data.dRel
lead_rel_vel = lead_data.vRel
lead_vel = lead_data.vLead
cruise_curr_set_speed = CS.out.cruiseState.speed #currently set cruise speed in m/s
d_cru_vego = 1.11 #4km/h diff between cruise/realspeed #cruise_curr_set_speed - CS.out.vEgo
min_dist = 10. #min dist to lead car to engage in meters
max_dist = 300. #max dist to lead car to disable acceleration and allow only deceleration
max_cru_speed = 36.11 #limit set max cruise speed to 130km/h
press_button_speed = 40 #press buttons at 400 milliseconds interval
if (
cruise_curr_set_speed - lead_vel
) > 8.33: #>30km/h faster button presses on deceleration and big cruise speed gap
press_button_speed = 5
elif (cruise_curr_set_speed - lead_vel) > 5.55: #>20km/h
press_button_speed = 10
elif (cruise_curr_set_speed - lead_vel) > 2.77: #>10km/h
press_button_speed = 20
if lead_vel > (
cruise_curr_set_speed - d_cru_vego
) and lead_rel_dist > 0. and cruise_curr_set_speed < max_cru_speed and (
frame % press_button_speed == 0
or frame % press_button_speed == 1):
if not CS.out.cruiseState.available: #prevent pressing up and resume prev speed
can_sends.append(
create_clu11(self.packer, frame, 0, CS.clu11,
Buttons.SET_DECEL, clu11_speed)) #button down
elif lead_rel_dist > min_dist and lead_rel_dist < max_dist:
can_sends.append(
create_clu11(self.packer, frame, 0, CS.clu11,
Buttons.RES_ACCEL, clu11_speed)) #button up
elif lead_vel < (cruise_curr_set_speed -
d_cru_vego) and lead_rel_dist > 0. and (
frame % press_button_speed == 0
or frame % press_button_speed == 1):
can_sends.append(
create_clu11(self.packer, frame, 0, CS.clu11,
Buttons.SET_DECEL, clu11_speed)) #button down
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, lead_dist,
lead_vrel, lead_yrel):
self.enabled = enabled
# gas and brake
self.accel_lim_prev = self.accel_lim
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
self.accel_lim = apply_accel
apply_accel = accel_rate_limit(self.accel_lim, self.accel_lim_prev)
# Steering Torque
new_steer = actuators.steer * self.p.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
self.p)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
self.high_steer_allowed = True if self.car_fingerprint in FEATURES[
"allow_high_steer"] else False
lkas_active = enabled and ((abs(CS.out.steeringAngle) < 90.)
or self.high_steer_allowed)
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 55 * CV.KPH_TO_MS and self.car_fingerprint == CAR.HYUNDAI_GENESIS and CS.CP.minSteerSpeed > 0.:
lkas_active = False
if ((CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker
and not CS.out.leftBlinker)) and CS.out.vEgo <= 39 * CV.KPH_TO_MS:
self.lanechange_manual_timer = 10
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 10
if abs(CS.out.steeringTorque) > 200:
self.driver_steering_torque_above_timer = 15
if self.lanechange_manual_timer or self.driver_steering_torque_above_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if self.driver_steering_torque_above_timer > 0:
self.driver_steering_torque_above_timer -= 1
if not lkas_active:
apply_steer = 0
if CS.CP.radarOffCan:
self.usestockscc = not self.cp_oplongcontrol
elif (CS.cancel_button_count == 3) and self.cp_oplongcontrol:
self.usestockscc = not self.usestockscc
if not self.usestockscc:
self.gapcount += 1
if self.gapcount == 50 and self.gapsettingdance == 2:
self.gapsettingdance = 1
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 1:
self.gapsettingdance = 4
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 4:
self.gapsettingdance = 3
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 3:
self.gapsettingdance = 2
self.gapcount = 0
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
speed_conv = CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
self.clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if self.clu11_speed > enabled_speed or not lkas_active or CS.out.gearShifter != GearShifter.drive:
enabled_speed = self.clu11_speed
self.current_veh_speed = int(CS.out.vEgo * speed_conv)
self.clu11_cnt = frame % 0x10
can_sends = []
self.lfa_available = True if self.lfainFingerprint or self.car_fingerprint in FEATURES[
"send_lfa_mfa"] else False
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 0))
if CS.CP.mdpsHarness: # send lkas11 bus 1 if mdps
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 1))
can_sends.append(
create_clu11(self.packer, 1, CS.clu11, Buttons.NONE,
enabled_speed, self.clu11_cnt))
if pcm_cancel_cmd and CS.scc12[
"ACCMode"] != 0 and not CS.out.standstill:
self.vdiff = 0.
self.resumebuttoncnt = 0
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.CANCEL, self.current_veh_speed,
self.clu11_cnt))
elif CS.out.cruiseState.standstill and CS.scc12[
"ACCMode"] != 0 and CS.vrelative > 0:
self.vdiff += (CS.vrelative - self.vdiff)
if (frame - self.lastresumeframe > 5) and (self.vdiff > .2 or
CS.lead_distance > 5.5):
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.RES_ACCEL, self.current_veh_speed,
self.resumebuttoncnt))
self.resumebuttoncnt += 1
if self.resumebuttoncnt > 5:
self.lastresumeframe = frame
self.resumebuttoncnt = 0
else:
self.vdiff = 0.
self.resumebuttoncnt = 0
if CS.out.vEgo < 5.:
self.sm.update(0)
long_control_state = self.sm['controlsState'].longControlState
self.acc_standstill = True if long_control_state == LongCtrlState.stopping else False
else:
self.acc_standstill = False
if lead_visible:
self.lead_visible = True
self.lead_debounce = 50
elif self.lead_debounce > 0:
self.lead_debounce -= 1
else:
self.lead_visible = lead_visible
self.setspeed = set_speed * speed_conv
if enabled:
self.sendaccmode = enabled
if CS.CP.radarDisablePossible:
self.radarDisableOverlapTimer += 1
self.radarDisableResetTimer = 0
if self.radarDisableOverlapTimer >= 30:
self.radarDisableActivated = True
if 200 > self.radarDisableOverlapTimer > 36:
if frame % 41 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x03\x00\x00\x00\x00\x00'))
elif frame % 43 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x03\x28\x03\x01\x00\x00\x00\x00'))
elif frame % 19 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x85\x00\x00\x00\x00\x00')
) # this disables RADAR for
else:
self.counter_init = False
can_sends.append(
create_scc7d0(b'\x02\x10\x90\x00\x00\x00\x00\x00')
) # this enables RADAR
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
elif self.radarDisableActivated:
can_sends.append(create_scc7d0(
b'\x02\x10\x90\x00\x00\x00\x00\x00')) # this enables RADAR
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
self.radarDisableOverlapTimer = 0
if frame % 50 == 0:
self.radarDisableResetTimer += 1
if self.radarDisableResetTimer > 2:
self.radarDisableActivated = False
self.counter_init = True
else:
self.radarDisableOverlapTimer = 0
self.radarDisableResetTimer = 0
if (frame % 50 == 0 or self.radarDisableOverlapTimer == 37) and \
CS.CP.radarDisablePossible and self.radarDisableOverlapTimer >= 30:
can_sends.append(
create_scc7d0(b'\x02\x3E\x00\x00\x00\x00\x00\x00'))
if self.lead_visible:
self.objdiststat = 1 if lead_dist < 25 else 2 if lead_dist < 40 else \
3 if lead_dist < 60 else 4 if lead_dist < 80 else 5
else:
self.objdiststat = 0
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if (CS.CP.sccBus == 2 or not self.usestockscc
or self.radarDisableActivated) and self.counter_init:
if frame % 2 == 0:
self.scc12cnt += 1
self.scc12cnt %= 0xF
self.scc11cnt += 1
self.scc11cnt %= 0x10
self.fca11supcnt += 1
self.fca11supcnt %= 0xF
if self.fca11alivecnt == 1:
self.fca11inc = 0
if self.fca11cnt13 == 3:
self.fca11maxcnt = 0x9
self.fca11cnt13 = 0
else:
self.fca11maxcnt = 0xD
self.fca11cnt13 += 1
else:
self.fca11inc += 4
self.fca11alivecnt = self.fca11maxcnt - self.fca11inc
can_sends.append(
create_scc11(self.packer, enabled, self.setspeed,
self.lead_visible, lead_dist, lead_vrel,
lead_yrel, self.gapsettingdance,
CS.out.standstill, CS.scc11, self.usestockscc,
CS.CP.radarOffCan, self.scc11cnt,
self.sendaccmode))
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.acc_standstill, CS.out.gasPressed,
CS.out.brakePressed, CS.out.stockAeb,
CS.scc12, self.usestockscc, CS.CP.radarOffCan,
self.scc12cnt))
can_sends.append(
create_scc14(self.packer, enabled, self.usestockscc,
CS.out.stockAeb, apply_accel, CS.scc14,
self.objdiststat, CS.out.gasPressed,
self.acc_standstill, CS.out.vEgo))
if CS.CP.fcaBus == -1:
can_sends.append(
create_fca11(self.packer, CS.fca11, self.fca11alivecnt,
self.fca11supcnt))
if frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.CP.fcaBus == -1:
can_sends.append(create_fca12(self.packer))
if frame % 50 == 0:
can_sends.append(create_scc42a(self.packer))
else:
self.counter_init = True
self.scc12cnt = CS.scc12init["CR_VSM_Alive"]
self.scc11cnt = CS.scc11init["AliveCounterACC"]
self.fca11alivecnt = CS.fca11init["CR_FCA_Alive"]
self.fca11supcnt = CS.fca11init["Supplemental_Counter"]
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.lfa_available:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible):
# Steering Torque
self.scc11_cnt %= 16
self.scc12_cnt %= 0xF
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
lkas_active = enabled and abs(CS.out.steeringAngle) < 90.
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS:
lkas_active = 0
if not lkas_active:
apply_steer = 0
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning))
if pcm_cancel_cmd:
can_sends.append(
create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
# when lead car starts moving, create 6 RES msgs
elif CS.lead_distance != self.last_lead_distance and (
frame - self.last_resume_frame) > 5:
can_sends.append(
create_clu11(self.packer, frame, CS.clu11,
Buttons.RES_ACCEL))
self.resume_cnt += 1
# interval after 6 msgs
if self.resume_cnt > 5:
self.last_resume_frame = frame
self.resume_cnt = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
if frame % 2 == 0:
#cloudlog.info("create_scc11(self.packer, %d, %d)" % (frame, self.scc11_cnt))
can_sends.append(
create_scc11(self.packer, enabled, self.scc11_cnt, set_speed,
lead_visible))
self.scc11_cnt += 1
self.scc12_cnt += 1
#cloudlog.info("create_scc12(self.packer, %d, %d, %d)" % (apply_accel, enabled, self.scc12_cnt))
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.scc12_cnt))
can_sends.append(create_scc14(self.packer, enabled))
#cloudlog.info("create_scc14(self.packer, %d)" % (enabled))
if frame % 20 == 0:
can_sends.append(create_scc13(self.packer))
#cloudlog.info("create_scc13(self.packer)")
# if frame % 50 == 0:
# can_sends.append(create_4a2SCC(self.packer))
#20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [
CAR.SONATA, CAR.PALISADE
]:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, lead_dist,
lead_vrel, lead_yrel, sm):
# *** compute control surfaces ***
# gas and brake
self.accel_lim_prev = self.accel_lim
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
self.accel_lim = apply_accel
apply_accel = accel_rate_limit(self.accel_lim, self.accel_lim_prev)
param = self.p
#self.model_speed = 255 - self.SC.calc_va(sm, CS.out.vEgo)
#atom model_speed
#self.model_speed = self.SC.cal_model_speed(sm, CS.out.vEgo)
if frame % 10 == 0:
self.curve_speed = self.SC.cal_curve_speed(sm, CS.out.vEgo)
plan = sm['longitudinalPlan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
lateral_plan = sm['lateralPlan']
self.outScale = lateral_plan.outputScale
self.vCruiseSet = lateral_plan.vCruiseSet
#self.model_speed = interp(abs(lateral_plan.vCurvature), [0.0002, 0.01], [255, 30])
#Hoya
self.model_speed = interp(abs(lateral_plan.vCurvature),
[0.0, 0.0002, 0.00074, 0.0025, 0.008, 0.02],
[255, 255, 130, 90, 60, 20])
if CS.out.vEgo > 8:
if self.variable_steer_max:
self.steerMax = interp(int(abs(self.model_speed)),
self.model_speed_range,
self.steerMax_range)
else:
self.steerMax = self.steerMax_base
if self.variable_steer_delta:
self.steerDeltaUp = interp(int(abs(self.model_speed)),
self.model_speed_range,
self.steerDeltaUp_range)
self.steerDeltaDown = interp(int(abs(self.model_speed)),
self.model_speed_range,
self.steerDeltaDown_range)
else:
self.steerDeltaUp = self.steerDeltaUp_base
self.steerDeltaDown = self.steerDeltaDown_base
else:
self.steerMax = self.steerMax_base
self.steerDeltaUp = self.steerDeltaUp_base
self.steerDeltaDown = self.steerDeltaDown_base
param.STEER_MAX = min(CarControllerParams.STEER_MAX,
self.steerMax) # variable steermax
param.STEER_DELTA_UP = min(CarControllerParams.STEER_DELTA_UP,
self.steerDeltaUp) # variable deltaUp
param.STEER_DELTA_DOWN = min(CarControllerParams.STEER_DELTA_DOWN,
self.steerDeltaDown) # variable deltaDown
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = int(
round(actuators.steer * self.steerMax *
(self.driver_steering_torque_above_timer / 100)))
else:
new_steer = int(round(actuators.steer * self.steerMax))
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
param)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
if self.opkr_maxanglelimit >= 90 and not self.steer_wind_down_enabled:
lkas_active = enabled and abs(
CS.out.steeringAngleDeg
) < self.opkr_maxanglelimit and CS.out.gearShifter == GearShifter.drive
else:
lkas_active = enabled and not CS.out.steerWarning and CS.out.gearShifter == GearShifter.drive
if (
(CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker and not CS.out.leftBlinker)
) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN and self.opkr_turnsteeringdisable:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque
) > 180 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
if self.apply_steer_last != 0:
self.steer_wind_down = 1
if lkas_active or CS.out.steeringPressed:
self.steer_wind_down = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
if CS.acc_active and CS.lead_distance > 149 and self.dRel < ((CS.out.vEgo * CV.MS_TO_KPH)+5) < 100 and \
self.vRel < -(CS.out.vEgo * CV.MS_TO_KPH * 0.16) and CS.out.vEgo > 7 and abs(CS.out.steeringAngleDeg) < 10 and not self.longcontrol:
self.need_brake_timer += 1
if self.need_brake_timer > 50:
self.need_brake = True
else:
self.need_brake = False
self.need_brake_timer = 0
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active or CS.out.gearShifter != GearShifter.drive:
enabled_speed = clu11_speed
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, self.steer_wind_down,
CS.lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane, left_lane_warning,
right_lane_warning, 0, self.ldws_fix,
self.steer_wind_down_enabled))
if CS.CP.mdpsBus: # send lkas11 bus 1 if mdps is bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, self.steer_wind_down,
CS.lkas11, sys_warning, sys_state, enabled,
left_lane, right_lane, left_lane_warning,
right_lane_warning, 1, self.ldws_fix,
self.steer_wind_down_enabled))
if frame % 2: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame, CS.clu11, Buttons.NONE,
enabled_speed, CS.CP.mdpsBus))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 4:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
elif CS.out.cruiseState.modeSel == 4 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 4
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (
CS.out.cruiseState.modeSel > 0)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "오파모드"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "차간+커브"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "차간ONLY"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "편도1차선"
elif CS.out.cruiseState.modeSel == 4:
self.steer_mode = "맵감속ONLY"
if CS.out.steerWarning == 0:
self.mdps_status = "정상"
elif CS.out.steerWarning == 1:
self.mdps_status = "오류"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
if CS.lead_distance < 149:
self.leadcar_status = "O"
else:
self.leadcar_status = "-"
str_log2 = 'MODE={:s} MDPS={:s} LKAS={:s} CSG={:1.0f} LEAD={:s} FR={:03.0f}'.format(self.steer_mode, \
self.mdps_status, self.lkas_switch, self.cruise_gap, self.leadcar_status, self.timer1.sampleTime())
trace1.printf2('{}'.format(str_log2))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(
create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL,
clu11_speed, CS.CP.sccBus))
if CS.out.cruiseState.standstill:
self.standstill_status = 1
if self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.res_switch_timer = 0
self.standstill_fault_reduce_timer += 1
elif self.res_switch_timer > 0:
self.res_switch_timer -= 1
self.standstill_fault_reduce_timer += 1
# at least 1 sec delay after entering the standstill
elif 100 < self.standstill_fault_reduce_timer and CS.lead_distance != self.last_lead_distance:
self.acc_standstill_timer = 0
self.acc_standstill = False
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL, clu11_speed, CS.CP.sccBus))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.res_switch_timer = randint(10, 15)
self.standstill_fault_reduce_timer += 1
# gap save
elif 160 < self.standstill_fault_reduce_timer and self.cruise_gap_prev == 0 and self.opkr_autoresume and self.opkr_cruisegap_auto_adj:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
# gap adjust to 1 for fast start
elif 160 < self.standstill_fault_reduce_timer and CS.cruiseGapSet != 1.0 and self.opkr_autoresume and self.opkr_cruisegap_auto_adj:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.GAP_DIST)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.GAP_DIST, clu11_speed, CS.CP.sccBus))
self.cruise_gap_switch_timer = 0
elif self.opkr_autoresume:
self.standstill_fault_reduce_timer += 1
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.clu11, self.SC.btn_type, self.SC.sc_clu_speed)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.clu11, self.SC.btn_type, self.SC.sc_clu_speed, CS.CP.sccBus))
self.resume_cnt += 1
else:
self.resume_cnt = 0
if self.opkr_cruisegap_auto_adj:
# gap restore
if self.dRel > 17 and self.vRel < 5 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.GAP_DIST)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.GAP_DIST, clu11_speed, CS.CP.sccBus))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet and self.opkr_autoresume:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
if CS.cruise_buttons == 4:
self.cancel_counter += 1
elif CS.acc_active:
self.cancel_counter = 0
if self.res_speed_timer > 0:
self.res_speed_timer -= 1
else:
self.v_cruise_kph_auto_res = 0
self.res_speed = 0
if self.model_speed > 95 and self.cancel_counter == 0 and not CS.acc_active and not CS.out.brakeLights and int(CS.VSetDis) > 30 and \
(CS.lead_distance < 149 or int(CS.clu_Vanz) > 30) and int(CS.clu_Vanz) >= 3 and self.auto_res_timer <= 0 and self.opkr_cruise_auto_res:
if self.opkr_cruise_auto_res_option == 0:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL, clu11_speed, CS.CP.sccBus)) # auto res
self.res_speed = int(CS.clu_Vanz * 1.1)
self.res_speed_timer = 350
elif self.opkr_cruise_auto_res_option == 1:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.SET_DECEL)) if not self.longcontrol \
else can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.SET_DECEL, clu11_speed, CS.CP.sccBus)) # auto res but set_decel to set current speed
self.v_cruise_kph_auto_res = int(CS.clu_Vanz)
self.res_speed_timer = 50
if self.auto_res_timer <= 0:
self.auto_res_timer = randint(10, 15)
elif self.auto_res_timer > 0 and self.opkr_cruise_auto_res:
self.auto_res_timer -= 1
if CS.out.brakeLights and CS.out.vEgo == 0 and not CS.acc_active:
self.standstill_status_timer += 1
if self.standstill_status_timer > 200:
self.standstill_status = 1
self.standstill_status_timer = 0
if self.standstill_status == 1 and CS.out.vEgo > 1:
self.standstill_status = 0
self.standstill_fault_reduce_timer = 0
self.last_resume_frame = frame
self.res_switch_timer = 0
self.resume_cnt = 0
if CS.out.vEgo <= 1:
self.sm.update(0)
long_control_state = self.sm['controlsState'].longControlState
if long_control_state == LongCtrlState.stopping and CS.out.vEgo < 0.1 and not CS.out.gasPressed:
self.acc_standstill_timer += 1
if self.acc_standstill_timer >= 200:
self.acc_standstill_timer = 200
self.acc_standstill = True
else:
self.acc_standstill_timer = 0
self.acc_standstill = False
elif CS.out.gasPressed or CS.out.vEgo > 1:
self.acc_standstill = False
self.acc_standstill_timer = 0
else:
self.acc_standstill = False
self.acc_standstill_timer = 0
if CS.CP.mdpsBus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
if CS.CP.sccBus != 0 and self.counter_init and self.longcontrol:
if frame % 2 == 0:
self.scc12cnt += 1
self.scc12cnt %= 0xF
self.scc11cnt += 1
self.scc11cnt %= 0x10
self.fca11supcnt += 1
self.fca11supcnt %= 0xF
if self.fca11alivecnt == 1:
self.fca11inc = 0
if self.fca11cnt13 == 3:
self.fca11maxcnt = 0x9
self.fca11cnt13 = 0
else:
self.fca11maxcnt = 0xD
self.fca11cnt13 += 1
else:
self.fca11inc += 4
self.fca11alivecnt = self.fca11maxcnt - self.fca11inc
lead_objspd = CS.lead_objspd # vRel (km/h)
aReqValue = CS.scc12["aReqValue"]
if 0 < CS.out.radarDistance <= 149:
if aReqValue > 0.:
stock_weight = interp(CS.out.radarDistance, [3., 25.],
[0.8, 0.])
elif aReqValue < 0.:
stock_weight = interp(CS.out.radarDistance, [3., 25.],
[1., 0.])
if lead_objspd < 0:
vRel_weight = interp(abs(lead_objspd), [0, 25],
[1, 2])
stock_weight = interp(
CS.out.radarDistance,
[3.**vRel_weight, 25. * vRel_weight], [1., 0.])
else:
stock_weight = 0.
apply_accel = apply_accel * (
1. - stock_weight) + aReqValue * stock_weight
else:
stock_weight = 0.
can_sends.append(
create_scc11(self.packer, frame, set_speed, lead_visible,
self.scc_live, lead_dist, lead_vrel,
lead_yrel, self.car_fingerprint,
CS.out.vEgo * CV.MS_TO_KPH,
self.acc_standstill, CS.scc11))
if (CS.brake_check
or CS.cancel_check) and self.car_fingerprint not in [
CAR.NIRO_EV
]:
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.scc_live, CS.out.gasPressed, 1,
CS.out.stockAeb, self.car_fingerprint,
CS.out.vEgo * CV.MS_TO_KPH, CS.scc12))
else:
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.scc_live, CS.out.gasPressed,
CS.out.brakePressed, CS.out.stockAeb,
self.car_fingerprint,
CS.out.vEgo * CV.MS_TO_KPH, CS.scc12))
can_sends.append(
create_scc14(self.packer, enabled, CS.scc14,
CS.out.stockAeb, lead_visible, lead_dist,
CS.out.vEgo, self.acc_standstill,
self.car_fingerprint))
if CS.CP.fcaBus == -1:
can_sends.append(
create_fca11(self.packer, CS.fca11, self.fca11alivecnt,
self.fca11supcnt))
if frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.CP.fcaBus == -1:
can_sends.append(create_fca12(self.packer))
if frame % 50 == 0:
can_sends.append(create_scc42a(self.packer))
elif CS.CP.sccBus == 2 and self.longcontrol:
self.counter_init = True
self.scc12cnt = CS.scc12init["CR_VSM_Alive"]
self.scc11cnt = CS.scc11init["AliveCounterACC"]
self.fca11alivecnt = CS.fca11init["CR_FCA_Alive"]
self.fca11supcnt = CS.fca11init["Supplemental_Counter"]
aq_value = CS.scc12["aReqValue"] if CS.CP.sccBus == 0 else apply_accel
if self.apks_enabled:
str_log1 = 'M/C={:03.0f}/{:03.0f} TQ={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f} AQ={:+04.2f}'.format(abs(self.model_speed), self.curve_speed, \
abs(new_steer), max(self.steerMax, abs(new_steer)), self.steerDeltaUp, self.steerDeltaDown, aq_value)
else:
str_log1 = 'M/C={:03.0f}/{:03.0f} TQ={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f} AQ={:+04.2f} S={:.0f}/{:.0f}'.format(abs(self.model_speed), self.curve_speed, \
abs(new_steer), max(self.steerMax, abs(new_steer)), self.steerDeltaUp, self.steerDeltaDown, aq_value, int(CS.is_highway), CS.safety_sign_check)
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES[
"send_lfahda_mfa"]:
can_sends.append(create_lfahda_mfc(self.packer, frame,
lkas_active))
return can_sends
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart, set_speed, lead_visible, sm):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
self.dRel, self.yRel, self.vRel = SpdController.get_lead(sm)
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
# Steering Torque
steerAngleAbs = abs(actuators.steerAngle)
limitParams = copy.copy(SteerLimitParams)
limitParams.STEER_MAX = int(interp(steerAngleAbs, [5., 10., 20., 30., 70.], [255, SteerLimitParams.STEER_MAX, 500, 600, 800]))
limitParams.STEER_DELTA_UP = int(interp(steerAngleAbs, [5., 20., 50.], [2, 3, 3]))
limitParams.STEER_DELTA_DOWN = int(interp(steerAngleAbs, [5., 20., 50.], [4, 5, 5]))
if self.driver_steering_torque_above_timer:
new_steer = actuators.steer * limitParams.STEER_MAX * (self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * limitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, limitParams)
self.steer_rate_limited = new_steer != apply_steer
CC.applyAccel = apply_accel
CC.applySteer = apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle, -1*(STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang - apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
# temporarily disable steering when LKAS button off
#lkas_active = enabled and abs(CS.out.steeringAngle) < 90. and not spas_active
lkas_active = enabled and not spas_active #and abs(CS.out.steeringAngle) < 90.
if (( CS.out.leftBlinker and not CS.out.rightBlinker) or ( CS.out.rightBlinker and not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 10
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 10
if abs(CS.out.steeringTorque) > 200:
self.driver_steering_torque_above_timer = 100
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if self.driver_steering_torque_above_timer > 0:
self.driver_steering_torque_above_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not(min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12["CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11, Buttons.NONE, enabled_speed))
str_log1 = '곡률={:03.0f} 토크={:03.0f} 프레임률={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f}'.format(abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(), SteerLimitParams.STEER_MAX, SteerLimitParams.STEER_DELTA_UP, SteerLimitParams.STEER_DELTA_DOWN)
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (CS.out.cruiseState.modeSel == 1 or CS.out.cruiseState.modeSel == 2 or CS.out.cruiseState.modeSel == 3)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "오파모드"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "차간+커브"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "차간ONLY"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "편도1차선"
if CS.out.steerWarning == 0:
self.mdps_status = "정상"
elif CS.out.steerWarning == 1:
self.mdps_status = "오류"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
str_log3 = '주행모드={:s} MDPS상태={:s} LKAS버튼={:s} 크루즈갭={:1.0f}'.format( self.steer_mode, self.mdps_status, self.lkas_switch, self.cruise_gap)
trace1.printf2( '{}'.format( str_log3 ) )
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.CANCEL, clu11_speed))
if CS.out.cruiseState.standstill:
if self.last_lead_distance == 0 or not self.opkr_autoresume:
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.resume_wait_timer = 0
elif self.resume_wait_timer > 0:
self.resume_wait_timer -= 1
elif CS.lead_distance != self.last_lead_distance:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.resume_wait_timer = int(0.25 / DT_CTRL)
elif self.cruise_gap_prev == 0 and run_speed_ctrl:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
elif CS.cruiseGapSet != 1.0 and run_speed_ctrl:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.scc_bus, CS.clu11, self.SC.btn_type, self.SC.sc_clu_speed))
self.resume_cnt += 1
else:
self.resume_cnt = 0
if self.dRel > 17 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus or not self.scc_live) and frame % 2 == 0:
can_sends.append(create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt, self.scc_live, CS.scc12))
can_sends.append(create_scc11(self.packer, frame, enabled, set_speed, lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(create_spas11(self.packer, self.car_fingerprint, (frame // 2), self.en_spas, self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, sm):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
param = self.p
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
plan = sm['plan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
self.target_map_speed = plan.targetSpeed
self.target_map_speed_camera = plan.targetSpeedCamera
self.accActive = CS.acc_active
path_plan = sm['pathPlan']
self.outScale = path_plan.outputScale
self.vCruiseSet = path_plan.vCruiseSet
self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset
self.angle_steers = CS.out.steeringAngle
self.angle_diff = abs(self.angle_steers_des) - abs(self.angle_steers)
if abs(self.outScale) >= 1 and CS.out.vEgo > 8:
self.steerMax_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerMax_range)
if self.steerMax_prev > self.steerMax:
self.steerMax = self.steerMax_prev
self.steerDeltaUp_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerDeltaUp_range)
if self.steerDeltaUp_prev > self.steerDeltaUp:
self.steerDeltaUp = self.steerDeltaUp_prev
self.steerDeltaDown_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerDeltaDown_range)
if self.steerDeltaDown_prev > self.steerDeltaDown:
self.steerDeltaDown = self.steerDeltaDown_prev
#if abs(self.outScale) >= 0.9 and CS.out.vEgo > 8:
# self.steerMax_timer += 1
# self.steerDeltaUp_timer += 1
# self.steerDeltaDown_timer += 1
# if self.steerMax_timer > 5:
# self.steerMax += int(CS.out.vEgo//2)
# self.steerMax_timer = 0
# if self.steerMax >= int(self.params.get('SteerMaxAdj')):
# self.steerMax = int(self.params.get('SteerMaxAdj'))
# if self.steerDeltaUp_timer > 50:
# self.steerDeltaUp += 1
# self.steerDeltaUp_timer = 0
# if self.steerDeltaUp >= 7:
# self.steerDeltaUp = 7
# if self.steerDeltaDown_timer > 25:
# self.steerDeltaDown += 1
# self.steerDeltaDown_timer = 0
# if self.steerDeltaDown >= 15:
# self.steerDeltaDown = 15
else:
self.steerMax_timer += 1
self.steerDeltaUp_timer += 1
self.steerDeltaDown_timer += 1
if self.steerMax_timer > 20:
self.steerMax -= 5
self.steerMax_timer = 0
if self.steerMax < int(self.params.get('SteerMaxBaseAdj')):
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
if self.steerDeltaUp_timer > 100:
self.steerDeltaUp -= 1
self.steerDeltaUp_timer = 0
if self.steerDeltaUp <= int(
self.params.get('SteerDeltaUpAdj')):
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
if self.steerDeltaDown_timer > 50:
self.steerDeltaDown -= 1
self.steerDeltaDown_timer = 0
if self.steerDeltaDown <= int(
self.params.get('SteerDeltaDownAdj')):
self.steerDeltaDown = int(
self.params.get('SteerDeltaDownAdj'))
param.STEER_MAX = min(SteerLimitParams.STEER_MAX, self.steerMax)
param.STEER_DELTA_UP = max(int(self.params.get('SteerDeltaUpAdj')),
self.steerDeltaUp)
param.STEER_DELTA_DOWN = max(int(self.params.get('SteerDeltaDownAdj')),
self.steerDeltaDown)
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = actuators.steer * self.steerMax * (
self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * self.steerMax
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
param)
self.steer_rate_limited = new_steer != apply_steer
CC.applyAccel = apply_accel
CC.applySteer = apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle,
-1 * (STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang -
apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (
self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
if self.opkr_maxanglelimit >= 90:
lkas_active = enabled and abs(
CS.out.steeringAngle
) < self.opkr_maxanglelimit and not spas_active
else:
lkas_active = enabled and not spas_active
if ((CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker and
not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque
) > 200 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
if CS.acc_active and CS.lead_distance > 149 and self.dRel < (
(CS.out.vEgo * CV.MS_TO_KPH) +
3) and self.vRel < -5 and CS.out.vEgo > 7:
self.need_brake_timer += 1
if self.need_brake_timer > 50:
self.need_brake = True
else:
self.need_brake = False
self.need_brake_timer = 0
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11,
Buttons.NONE, enabled_speed))
str_log1 = 'CV={:03.0f} TQ={:03.0f} R={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f}'.format(
abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(),
self.steerMax, self.steerDeltaUp, self.steerDeltaDown)
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (
CS.out.cruiseState.modeSel == 1 or CS.out.cruiseState.modeSel == 2
or CS.out.cruiseState.modeSel == 3)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "오파모드"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "차간+커브"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "차간ONLY"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "편도1차선"
if CS.out.steerWarning == 0:
self.mdps_status = "정상"
elif CS.out.steerWarning == 1:
self.mdps_status = "오류"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
if CS.lead_distance < 149:
self.leadcar_status = "O"
else:
self.leadcar_status = "-"
str_log2 = 'MODE={:s} MDPS={:s} LKAS={:s} CSG={:1.0f} LEAD={:s}'.format(
self.steer_mode, self.mdps_status, self.lkas_switch,
self.cruise_gap, self.leadcar_status)
trace1.printf2('{}'.format(str_log2))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.CANCEL, clu11_speed))
if CS.out.cruiseState.standstill:
self.standstill_status = 1
if self.opkr_autoresumeoption == 1 and self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.res_switch_timer = 0
self.standstill_fault_reduce_timer += 1
elif self.res_switch_timer > 0:
self.res_switch_timer -= 1
self.standstill_fault_reduce_timer += 1
# standstill 진입하자마자 바로 누르지 말고 최소 1초의 딜레이를 주기 위함
elif 100 < self.standstill_fault_reduce_timer and CS.lead_distance != self.last_lead_distance:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.res_switch_timer = randint(10, 15)
self.standstill_fault_reduce_timer += 1
# gap save
elif 160 < self.standstill_fault_reduce_timer and self.cruise_gap_prev == 0 and self.opkr_autoresume:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
# gap adjust to 1 for fast start
elif 160 < self.standstill_fault_reduce_timer and CS.cruiseGapSet != 1.0 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus,
CS.clu11, Buttons.GAP_DIST,
clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.opkr_autoresume:
self.standstill_fault_reduce_timer += 1
elif self.opkr_autoresumeoption == 0 and self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
# when lead car starts moving, create 6 RES msgs
elif CS.lead_distance != self.last_lead_distance and (
frame -
self.last_resume_frame) > 5 and self.opkr_autoresume:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
# interval after 6 msgs
if self.resume_cnt > 5:
self.last_resume_frame = frame
self.resume_cnt = 0
elif self.cruise_gap_prev == 0 and self.opkr_autoresume:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
elif CS.cruiseGapSet != 1.0 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus,
CS.clu11, Buttons.GAP_DIST,
clu11_speed))
self.cruise_gap_switch_timer = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(
create_clu11(self.packer, self.resume_cnt, CS.scc_bus,
CS.clu11, self.SC.btn_type,
self.SC.sc_clu_speed))
self.resume_cnt += 1
else:
self.resume_cnt = 0
# gap restore
if self.dRel > 17 and self.vRel < 5 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet and self.opkr_autoresume:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
#if CS.out.vEgo > 8 and self.lead2_status and self.dRel - self.dRel2 > 3 and self.cut_in_detection == 0 and self.cruise_gap_prev2 == 0:
# self.cut_in_detection = 1
# self.cruise_gap_prev2 = CS.cruiseGapSet
#elif CS.out.vEgo > 8 and self.cut_in_detection == 1 and CS.cruiseGapSet != 1.0:
# self.cruise_gap_switch_timer2 += 1
# if self.cruise_gap_switch_timer2 > 150:
# can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
# self.cruise_gap_switch_timer2 = 0
#elif CS.out.vEgo > 8 and self.cut_in_detection == 1 and CS.cruiseGapSet == 1.0:
# self.cruise_gap_switch_timer2 += 1
# if self.cruise_gap_switch_timer2 > 600:
# if self.cruise_gap_prev2 != CS.cruiseGapSet:
# self.cruise_gap_switch_timer3 += 1
# if self.cruise_gap_switch_timer3 > 50:
# can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
# self.cruise_gap_switch_timer3 = 0
#elif self.cruise_gap_prev2 == CS.cruiseGapSet:
# self.cut_in_detection == 0
# self.cruise_gap_prev2 = 0
# self.cruise_gap_switch_timer2 = 0
# self.cruise_gap_switch_timer3 = 0
if CS.out.brakeLights and CS.out.vEgo == 0 and not CS.acc_active:
self.standstill_status_timer += 1
if self.standstill_status_timer > 200:
self.standstill_status = 1
self.standstill_status_timer = 0
if self.standstill_status == 1 and CS.out.vEgo > 1:
self.standstill_status = 0
self.standstill_fault_reduce_timer = 0
self.v_set_dis_prev = 180
self.last_resume_frame = frame
self.res_switch_timer = 0
self.resume_cnt = 0
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus
or not self.scc_live) and frame % 2 == 0:
can_sends.append(
create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt,
self.scc_live, CS.scc12))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(
create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(
create_spas11(self.packer, self.car_fingerprint,
(frame // 2), self.en_spas,
self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, lead_dist,
lead_vrel, lead_yrel, sm):
self.enabled = enabled
param = self.p
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
plan = sm['plan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
self.target_map_speed = plan.targetSpeed
self.target_map_speed_camera = plan.targetSpeedCamera
path_plan = sm['pathPlan']
self.outScale = path_plan.outputScale
self.angle_steers = CS.out.steeringAngle
self.vCruiseSet = path_plan.vCruiseSet
if CS.out.vEgo > 8:
if self.variable_steer_max:
#self.steerMax = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerMax_range)
self.steerMax = interp(abs(self.angle_steers),
self.angle_range, self.steerMax_range)
else:
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
if self.variable_steer_delta:
#self.steerDeltaUp = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaUp_range)
#self.steerDeltaDown = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaDown_range)
self.steerDeltaUp = interp(abs(self.angle_steers),
self.angle_range,
self.steerDeltaUp_range)
self.steerDeltaDown = interp(abs(self.angle_steers),
self.angle_range,
self.steerDeltaDown_range)
else:
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
else:
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
param.STEER_MAX = min(SteerLimitParams.STEER_MAX,
self.steerMax) # variable steermax
param.STEER_DELTA_UP = max(int(self.params.get('SteerDeltaUpAdj')),
self.steerDeltaUp) # variable deltaUp
param.STEER_DELTA_DOWN = max(int(self.params.get('SteerDeltaDownAdj')),
self.steerDeltaDown) # variable deltaDown
#param.STEER_DELTA_UP = SteerLimitParams.STEER_DELTA_UP # fixed deltaUp
#param.STEER_DELTA_DOWN = SteerLimitParams.STEER_DELTA_DOWN # fixed deltaDown
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = actuators.steer * self.steerMax * (
self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * self.steerMax
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
param)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
self.high_steer_allowed = True if self.car_fingerprint in FEATURES[
"allow_high_steer"] else False
if self.opkr_maxanglelimit >= 90:
lkas_active = enabled and abs(
CS.out.steeringAngle) < self.opkr_maxanglelimit
else:
lkas_active = enabled
if ((CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker and
not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
#if self.lanechange_manual_timer:
# lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque
) > 200 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
if CS.CP.radarOffCan:
self.usestockscc = not self.cp_oplongcontrol
elif (CS.cancel_button_count == 3) and self.cp_oplongcontrol:
self.usestockscc = not self.usestockscc
if self.prev_gapButton != CS.cruise_buttons: # gap change.
if CS.cruise_buttons == 3:
self.gapsettingdance -= 1
if self.gapsettingdance < 1:
self.gapsettingdance = 4
self.prev_gapButton = CS.cruise_buttons
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
speed_conv = CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
self.clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if self.clu11_speed > enabled_speed or not lkas_active or CS.out.gearShifter != GearShifter.drive:
enabled_speed = self.clu11_speed
self.current_veh_speed = int(CS.out.vEgo * speed_conv)
self.clu11_cnt = frame % 0x10
can_sends = []
self.lfa_available = True if self.lfainFingerprint or self.car_fingerprint in FEATURES[
"send_lfa_mfa"] else False
if (frame % 10) == 0:
# tester present - w/ no response (keeps radar disabled)
can_sends.append(
[0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 0))
if CS.CP.mdpsHarness: # send lkas11 bus 1 if mdps
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 1))
can_sends.append(
create_clu11(self.packer, 1, CS.clu11, Buttons.NONE,
enabled_speed, self.clu11_cnt))
str_log1 = 'CV={:03.0f} TQ={:03.0f} R={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f} G={:01.0f}'.format(
abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(),
self.steerMax, self.steerDeltaUp, self.steerDeltaDown,
CS.out.cruiseGapSet)
if int(self.params.get('OpkrLiveTune')) == 1:
if int(self.params.get('LateralControlMethod')) == 0:
self.str_log2 = 'T={:0.2f}/{:0.3f}/{:0.2f}/{:0.5f}'.format(
float(int(self.params.get('PidKp')) * 0.01),
float(int(self.params.get('PidKi')) * 0.001),
float(int(self.params.get('PidKd')) * 0.01),
float(int(self.params.get('PidKf')) * 0.00001))
elif int(self.params.get('LateralControlMethod')) == 1:
self.str_log2 = 'T={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(
float(int(self.params.get('InnerLoopGain')) * 0.1),
float(int(self.params.get('OuterLoopGain')) * 0.1),
float(int(self.params.get('TimeConstant')) * 0.1),
float(int(self.params.get('ActuatorEffectiveness')) * 0.1))
elif int(self.params.get('LateralControlMethod')) == 2:
self.str_log2 = 'T={:04.0f}/{:05.3f}/{:06.4f}'.format(
float(int(self.params.get('Scale')) * 1.0),
float(int(self.params.get('LqrKi')) * 0.001),
float(int(self.params.get('DcGain')) * 0.0001))
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active
if pcm_cancel_cmd and CS.scc12[
"ACCMode"] != 0 and not CS.out.standstill:
self.vdiff = 0.
self.resumebuttoncnt = 0
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.CANCEL, self.current_veh_speed,
self.clu11_cnt))
elif CS.out.cruiseState.standstill and CS.scc12[
"ACCMode"] != 0 and CS.vrelative > 0:
self.vdiff += (CS.vrelative - self.vdiff)
if (frame - self.lastresumeframe > 5) and (self.vdiff > .1 or
CS.lead_distance > 4.5):
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.RES_ACCEL, self.current_veh_speed,
self.resumebuttoncnt))
self.resumebuttoncnt += 1
if self.resumebuttoncnt > 5:
self.lastresumeframe = frame
self.resumebuttoncnt = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
self.SC.btn_type, self.SC.sc_clu_speed,
self.clu11_cnt))
else:
self.vdiff = 0.
self.resumebuttoncnt = 0
if frame % 2 == 0 and self.cp_oplongcontrol:
accel_target = clip(actuators.gas - actuators.brake, -3.5, 2.0)
self.apply_accel += 0.02 if accel_target > self.apply_accel else -0.02
stopping = accel_target < 0 and CS.out.vEgo < 0.05
self.apply_accel = clip(self.apply_accel,
accel_target if accel_target < 0 else 0,
accel_target if accel_target > 0 else 0)
if not enabled:
self.apply_accel = 0
if CS.out.vEgo <= 1:
self.sm.update(0)
long_control_state = self.sm['controlsState'].longControlState
self.acc_standstill = True if long_control_state == LongCtrlState.stopping else False
if self.acc_standstill == True and not CS.out.gasPressed:
self.acc_standstill_timer += 1
if self.acc_standstill_timer >= 200:
self.acc_standstill_timer = 200
elif CS.out.gasPressed:
self.acc_standstill_timer = 0
else:
self.acc_standstill_timer = 0
elif CS.out.gasPressed or CS.out.vEgo > 1:
self.acc_standstill = False
self.acc_standstill_timer = 0
else:
self.acc_standstill = False
self.acc_standstill_timer = 0
if lead_visible:
self.lead_visible = True
self.lead_debounce = 50
elif self.lead_debounce > 0:
self.lead_debounce -= 1
else:
self.lead_visible = lead_visible
self.setspeed = set_speed * speed_conv
if enabled:
self.sendaccmode = enabled
if CS.CP.radarDisablePossible:
self.radarDisableOverlapTimer += 1
self.radarDisableResetTimer = 0
if self.radarDisableOverlapTimer >= 30:
self.radarDisableActivated = True
if 200 > self.radarDisableOverlapTimer > 36:
if frame % 41 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x03\x00\x00\x00\x00\x00'))
elif frame % 43 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x03\x28\x03\x01\x00\x00\x00\x00'))
elif frame % 19 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x85\x00\x00\x00\x00\x00'))
else:
self.counter_init = False
can_sends.append(
create_scc7d0(b'\x02\x10\x90\x00\x00\x00\x00\x00'))
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
elif self.radarDisableActivated:
can_sends.append(
create_scc7d0(b'\x02\x10\x90\x00\x00\x00\x00\x00'))
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
self.radarDisableOverlapTimer = 0
if frame % 50 == 0:
self.radarDisableResetTimer += 1
if self.radarDisableResetTimer > 2:
self.radarDisableActivated = False
self.counter_init = True
else:
self.radarDisableOverlapTimer = 0
self.radarDisableResetTimer = 0
if (frame % 50 == 0 or self.radarDisableOverlapTimer == 37) and \
CS.CP.radarDisablePossible and self.radarDisableOverlapTimer >= 30:
can_sends.append(
create_scc7d0(b'\x02\x3E\x00\x00\x00\x00\x00\x00'))
if self.lead_visible:
self.objdiststat = 1 if lead_dist < 25 else 2 if lead_dist < 40 else \
3 if lead_dist < 60 else 4 if lead_dist < 80 else 5
else:
self.objdiststat = 0
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if (CS.CP.sccBus == 2 or not self.usestockscc
or self.radarDisableActivated) and self.counter_init:
if frame % 2 == 0:
self.scc12cnt += 1
self.scc12cnt %= 0xF
self.scc11cnt += 1
self.scc11cnt %= 0x10
self.fca11supcnt += 1
self.fca11supcnt %= 0xF
if self.fca11alivecnt == 1:
self.fca11inc = 0
if self.fca11cnt13 == 3:
self.fca11maxcnt = 0x9
self.fca11cnt13 = 0
else:
self.fca11maxcnt = 0xD
self.fca11cnt13 += 1
else:
self.fca11inc += 4
self.fca11alivecnt = self.fca11maxcnt - self.fca11inc
can_sends.append(
create_scc11(self.packer, enabled, self.setspeed,
self.lead_visible, lead_dist, lead_vrel,
lead_yrel, self.gapsettingdance,
CS.out.standstill, CS.scc11, self.usestockscc,
CS.CP.radarOffCan, self.scc11cnt,
self.sendaccmode))
if CS.brake_check == 1 or CS.mainsw_check == 1:
can_sends.append(
create_scc12(self.packer, accel_target, accel_target,
enabled, self.acc_standstill,
CS.out.gasPressed, 1, CS.out.stockAeb,
CS.scc12, self.usestockscc,
CS.CP.radarOffCan, self.scc12cnt))
else:
can_sends.append(
create_scc12(self.packer, accel_target, accel_target,
enabled, self.acc_standstill,
CS.out.gasPressed, CS.out.brakePressed,
CS.out.stockAeb, CS.scc12,
self.usestockscc, CS.CP.radarOffCan,
self.scc12cnt))
can_sends.append(
create_scc14(self.packer, enabled, self.usestockscc,
CS.out.stockAeb, self.apply_accel, CS.scc14,
self.objdiststat, CS.out.gasPressed,
self.acc_standstill, CS.out.vEgo))
if CS.CP.fcaBus == -1:
can_sends.append(
create_fca11(self.packer, CS.fca11, self.fca11alivecnt,
self.fca11supcnt))
if frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.CP.fcaBus == -1:
can_sends.append(create_fca12(self.packer))
if frame % 50 == 0:
can_sends.append(create_scc42a(self.packer))
else:
self.counter_init = True
self.scc12cnt = CS.scc12init["CR_VSM_Alive"]
self.scc11cnt = CS.scc11init["AliveCounterACC"]
self.fca11alivecnt = CS.fca11init["CR_FCA_Alive"]
self.fca11supcnt = CS.fca11init["Supplemental_Counter"]
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.lfa_available:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
return can_sends
def update(self, c, enabled, CS, frame, CC, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, controls):
# Steering Torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
CarControllerParams)
# disable when temp fault is active, or below LKA minimum speed
lkas_active = c.active and not CS.out.steerWarning and abs(
CS.out.steeringAngleDeg) < CS.CP.maxSteeringAngleDeg
# Disable steering while turning blinker on and speed below 60 kph
if CS.out.leftBlinker or CS.out.rightBlinker:
self.turning_signal_timer = 0.5 / DT_CTRL # Disable for 0.5 Seconds after blinker turned off
if self.turning_indicator_alert: # set and clear by interface
lkas_active = 0
if self.turning_signal_timer > 0:
self.turning_signal_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning = \
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
if self.haptic_feedback_speed_camera:
if self.prev_active_cam != self.scc_smoother.active_cam:
self.prev_active_cam = self.scc_smoother.active_cam
if self.scc_smoother.active_cam:
self.active_cam_timer = int(1.5 / DT_CTRL)
if self.active_cam_timer > 0:
self.active_cam_timer -= 1
left_lane_warning = right_lane_warning = 1
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
# TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0,
self.ldws_opt))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1,
self.ldws_opt))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, CS.mdps_bus, CS.clu11, Buttons.NONE,
enabled_speed))
if pcm_cancel_cmd and (self.longcontrol and not self.mad_mode_enabled):
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11, Buttons.CANCEL,
clu11_speed))
else:
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# fix auto resume - by neokii
if CS.out.cruiseState.standstill and not CS.out.gasPressed:
if self.last_lead_distance == 0:
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.resume_wait_timer = 0
# scc smoother
elif self.scc_smoother.is_active(frame):
pass
elif self.resume_wait_timer > 0:
self.resume_wait_timer -= 1
elif abs(CS.lead_distance - self.last_lead_distance) > 0.1:
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt >= randint(6, 8):
self.resume_cnt = 0
self.resume_wait_timer = randint(30, 36)
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
# scc smoother
self.scc_smoother.update(enabled, can_sends, self.packer, CC, CS,
frame, controls)
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and CS.cruiseState_enabled and (CS.scc_bus or
not self.scc_live):
if frame % 2 == 0:
stopping = controls.LoC.long_control_state == LongCtrlState.stopping
apply_accel = clip(actuators.accel if c.active else 0,
CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
apply_accel = self.scc_smoother.get_apply_accel(
CS, controls.sm, apply_accel, stopping)
self.accel = apply_accel
controls.apply_accel = apply_accel
aReqValue = CS.scc12["aReqValue"]
controls.aReqValue = aReqValue
if aReqValue < controls.aReqValueMin:
controls.aReqValueMin = controls.aReqValue
if aReqValue > controls.aReqValueMax:
controls.aReqValueMax = controls.aReqValue
if self.stock_navi_decel_enabled:
controls.sccStockCamAct = CS.scc11["Navi_SCC_Camera_Act"]
controls.sccStockCamStatus = CS.scc11[
"Navi_SCC_Camera_Status"]
apply_accel, stock_cam = self.scc_smoother.get_stock_cam_accel(
apply_accel, aReqValue, CS.scc11)
else:
controls.sccStockCamAct = 0
controls.sccStockCamStatus = 0
stock_cam = False
if self.scc12_cnt < 0:
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] if not CS.no_radar else 0
self.scc12_cnt += 1
self.scc12_cnt %= 0xF
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.scc12_cnt, self.scc_live, CS.scc12,
CS.out.gasPressed, CS.out.brakePressed,
CS.out.cruiseState.standstill,
self.car_fingerprint))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
lead_visible, self.scc_live, CS.scc11,
self.scc_smoother.active_cam, stock_cam))
if frame % 20 == 0 and CS.has_scc13:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
acc_standstill = stopping if CS.out.vEgo < 2. else False
lead = self.scc_smoother.get_lead(controls.sm)
if lead is not None:
d = lead.dRel
obj_gap = 1 if d < 25 else 2 if d < 40 else 3 if d < 60 else 4 if d < 80 else 5
else:
obj_gap = 0
can_sends.append(
create_scc14(self.packer, enabled, CS.out.vEgo,
acc_standstill, apply_accel,
CS.out.gasPressed, obj_gap, CS.scc14))
else:
self.scc12_cnt = -1
# 20 Hz LFA MFA message
if frame % 5 == 0:
activated_hda = road_speed_limiter_get_active()
# activated_hda: 0 - off, 1 - main road, 2 - highway
if self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(
create_lfahda_mfc(self.packer, enabled, activated_hda))
elif CS.has_lfa_hda:
can_sends.append(
create_hda_mfc(self.packer, activated_hda, CS, left_lane,
right_lane))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
new_actuators.accel = self.accel
return new_actuators, can_sends
def update_scc(self, CC, CS, actuators, controls, hud_control, can_sends):
# scc smoother
self.scc_smoother.update(CC.enabled, can_sends, self.packer, CC, CS,
self.frame, controls)
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and CS.cruiseState_enabled and (CS.scc_bus or
not self.scc_live):
if self.frame % 2 == 0:
set_speed = hud_control.setSpeed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
stopping = controls.LoC.long_control_state == LongCtrlState.stopping
apply_accel = self.scc_smoother.get_apply_accel(
CS, controls.sm, actuators.accel, stopping)
apply_accel = clip(apply_accel if CC.longActive else 0,
CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
self.accel = apply_accel
controls.apply_accel = apply_accel
aReqValue = CS.scc12["aReqValue"]
controls.aReqValue = aReqValue
if aReqValue < controls.aReqValueMin:
controls.aReqValueMin = controls.aReqValue
if aReqValue > controls.aReqValueMax:
controls.aReqValueMax = controls.aReqValue
if self.stock_navi_decel_enabled:
controls.sccStockCamAct = CS.scc11["Navi_SCC_Camera_Act"]
controls.sccStockCamStatus = CS.scc11[
"Navi_SCC_Camera_Status"]
apply_accel, stock_cam = self.scc_smoother.get_stock_cam_accel(
apply_accel, aReqValue, CS.scc11)
else:
controls.sccStockCamAct = 0
controls.sccStockCamStatus = 0
stock_cam = False
if self.scc12_cnt < 0:
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] if not CS.no_radar else 0
self.scc12_cnt += 1
self.scc12_cnt %= 0xF
can_sends.append(
hyundaican.create_scc12(
self.packer, apply_accel, CC.enabled, self.scc12_cnt,
self.scc_live, CS.scc12, CS.out.gasPressed,
CS.out.brakePressed, CS.out.cruiseState.standstill,
self.CP.carFingerprint))
can_sends.append(
hyundaican.create_scc11(self.packer, self.frame,
CC.enabled, set_speed,
hud_control.leadVisible,
self.scc_live, CS.scc11,
self.scc_smoother.active_cam,
stock_cam))
if self.frame % 20 == 0 and CS.has_scc13:
can_sends.append(
hyundaican.create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
acc_standstill = stopping if CS.out.vEgo < 2. else False
lead = self.scc_smoother.get_lead(controls.sm)
if lead is not None:
d = lead.dRel
obj_gap = 1 if d < 25 else 2 if d < 40 else 3 if d < 60 else 4 if d < 80 else 5
else:
obj_gap = 0
can_sends.append(
hyundaican.create_scc14(self.packer, CC.enabled,
CS.out.vEgo, acc_standstill,
apply_accel, CS.out.gasPressed,
obj_gap, CS.scc14))
else:
self.scc12_cnt = -1
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible):
self.lfa_available = True if self.lfainFingerprint or self.car_fingerprint in FEATURES[
"send_lfa_mfa"] else False
self.high_steer_allowed = True if self.car_fingerprint in FEATURES[
"allow_high_steer"] else False
if lead_visible:
self.lead_visible = True
self.lead_debounce = 50
elif self.lead_debounce > 0:
self.lead_debounce -= 1
else:
self.lead_visible = lead_visible
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# Steering Torque
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
lkas_active = enabled and ((abs(CS.out.steeringAngle) < 90.)
or self.high_steer_allowed)
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 55 * CV.KPH_TO_MS and self.car_fingerprint == CAR.HYUNDAI_GENESIS and not CS.mdpsHarness:
lkas_active = False
if not lkas_active:
apply_steer = 0
if CS.nosccradar:
self.usestockscc = not self.cp_oplongcontrol
elif (CS.cancel_button_count == 3) and self.cp_oplongcontrol:
self.usestockscc = not self.usestockscc
if not self.usestockscc:
self.gapcount += 1
if self.gapcount == 50 and self.gapsettingdance == 2:
self.gapsettingdance = 1
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 1:
self.gapsettingdance = 4
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 4:
self.gapsettingdance = 3
self.gapcount = 0
elif self.gapcount == 50 and self.gapsettingdance == 3:
self.gapsettingdance = 2
self.gapcount = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
speed_conv = CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active or CS.out.gearShifter != GearShifter.drive:
enabled_speed = clu11_speed
self.current_veh_speed = int(CS.out.vEgo * speed_conv)
self.clu11_cnt = frame % 0x10
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 0))
if CS.mdpsHarness: # send lkas11 bus 1 if mdps
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 1))
can_sends.append(
create_clu11(self.packer, 1, CS.clu11, Buttons.NONE,
enabled_speed, self.clu11_cnt))
if pcm_cancel_cmd and not CS.nosccradar and self.usestockscc and CS.scc12[
"ACCMode"] and not CS.out.standstill:
self.vdiff = 0.
self.resumebuttoncnt = 0
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11, Buttons.CANCEL,
self.current_veh_speed, self.clu11_cnt))
elif CS.out.cruiseState.standstill and not CS.nosccradar and self.usestockscc and CS.vrelative > 0:
self.vdiff += (CS.vrelative - self.vdiff)
if (frame - self.lastresumeframe > 10) and (self.vdiff > .5 or
CS.lead_distance > 6.):
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, self.current_veh_speed,
self.resumebuttoncnt))
self.resumebuttoncnt += 1
if self.resumebuttoncnt > 5:
self.lastresumeframe = frame
self.resumebuttoncnt = 0
else:
self.vdiff = 0.
self.resumebuttoncnt = 0
self.acc_standstill = False #True if (enabled and not self.acc_paused and CS.out.standstill) else False
set_speed *= speed_conv
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if (CS.scc_bus == 2 or not self.usestockscc) and frame % 2 == 0:
self.scc12cnt += 1
self.scc12cnt %= 0xF
can_sends.append(
create_scc11(self.packer, enabled, set_speed,
self.lead_visible, self.gapsettingdance,
CS.out.standstill, CS.scc11, self.usestockscc,
CS.nosccradar, frame))
can_sends.append(
create_scc12(self.packer, apply_accel, enabled,
self.acc_standstill, CS.out.gasPressed,
CS.out.brakePressed, CS.scc11["MainMode_ACC"],
CS.out.stockAeb, CS.scc12, self.usestockscc,
CS.nosccradar, self.scc12cnt))
can_sends.append(create_scc13(self.packer, CS.scc13))
can_sends.append(
create_scc14(self.packer, enabled, self.usestockscc,
CS.out.stockAeb, CS.scc14))
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.lfa_available:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
#detect stopped vehicle logic -> object with relative velocity -ve current vehicle speed + some hysteresis
#Once detected allow maturation and calculate appropriate distance for decelration target
self.sm.update(0)
dat = self.sm['radarState'].leadOne
if CS.is_set_speed_in_mph:
self.setspeed = CS.out.cruiseState.speed * speed_conv
else:
self.setspeed = CS.out.cruiseState.speed * speed_conv
if not CS.radar_obj_valid and dat.status and dat.vLead < 3. \
and CS.out.cruiseState.enabled and not CS.out.gasPressed:
aRel = (dat.vLead**2 - CS.out.vEgo**2) / (2 * dat.dRel)
print("aRel", aRel)
if aRel < -.5 or self.stopcontrolupdate:
self.stopcontrolupdate = True
print("STOPPED VEHICLE")
self.smartspeed = 20 if CS.is_set_speed_in_mph else 30
if not self.stopcontrolupdate:
self.button_cnt = 0
self.recordsetspeed = self.setspeed
else:
if self.setspeed != self.recordsetspeed and self.stopcontrolupdate and CS.out.cruiseState.enabled \
and CS.radar_obj_valid and not CS.out.gasPressed:
self.smartspeed = self.recordsetspeed
else:
self.stopcontrolupdate = False
self.recordsetspeed = 0
framestoskip = 10
if (frame - self.last_button_frame
) > framestoskip and self.stopcontrolupdate:
if self.setspeed > (self.smartspeed * 1.005):
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11,
Buttons.SET_DECEL, self.current_veh_speed,
self.button_cnt))
print("AUTO SLOW DOWN")
if CS.cruise_buttons == 1:
self.button_res_stop += 2
else:
self.button_res_stop -= 1
elif self.setspeed < (self.smartspeed / 1.005):
can_sends.append(
create_clu11(self.packer, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, self.current_veh_speed,
self.button_cnt))
print("AUTO SPEED UP")
if CS.cruise_buttons == 2:
self.button_set_stop += 2
else:
self.button_set_stop -= 1
else:
self.button_res_stop = self.button_set_stop = 0
if (abs(self.smartspeed - self.setspeed) <
0.5) or (self.button_res_stop >=
50) or (self.button_set_stop >= 50):
self.stopcontrolupdate = False
self.button_cnt += 1
if self.button_cnt > 5:
self.last_button_frame = frame
self.button_cnt = 0
else:
self.button_set_stop = self.button_res_stop = 0
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# Steering Torque
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
# temporarily disable steering when LKAS button off
lkas_active = enabled and abs(
CS.out.steeringAngle) < 90. and self.lkas_button_on
# fix for Genesis hard fault at low speed
if CS.out.vEgo < 16.7 and self.car_fingerprint == CAR.HYUNDAI_GENESIS and not CS.mdps_bus:
lkas_active = 0
# Disable steering while turning blinker on and speed below 60 kph
if CS.out.leftBlinker or CS.out.rightBlinker:
if self.car_fingerprint not in [CAR.KIA_OPTIMA, CAR.KIA_OPTIMA_H]:
self.turning_signal_timer = 100 # Disable for 1.0 Seconds after blinker turned off
elif CS.left_blinker_flash or CS.right_blinker_flash: # Optima has blinker flash signal only
self.turning_signal_timer = 100
if self.turning_signal_timer and CS.out.vEgo < 16.7:
lkas_active = 0
if self.turning_signal_timer:
self.turning_signal_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 60
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
set_speed *= 2.237 if CS.is_set_speed_in_mph else 3.6
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] + 1 if not CS.no_radar else 0
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11,
Buttons.NONE, enabled_speed))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.CANCEL, clu11_speed))
elif CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error if no cancel cmd
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
if CS.scc_bus and self.longcontrol and frame % 2 == 0: # send scc12 to car if SCC not on bus 0 and longcontrol enabled
can_sends.append(
create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt,
CS.scc12))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
lead_visible, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
if CS.out.cruiseState.standstill:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
# when lead car starts moving, create 6 RES msgs
elif CS.lead_distance != self.last_lead_distance and (
frame - self.last_resume_frame) > 5:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
# interval after 6 msgs
if self.resume_cnt > 5:
self.last_resume_frame = frame
self.resume_cnt = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in [
CAR.SONATA, CAR.PALISADE, CAR.SONATA_H
]:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
return can_sends