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, 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, 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
