def param_load(self):
self.command_cnt += 1
if self.command_cnt > 100:
self.command_cnt = 0
if self.command_cnt % 10:
return
self.command_load += 1
if self.command_load == 1:
self.param_OpkrAccelProfile = int(
self.params.get('OpkrAccelProfile'))
elif self.command_load == 2:
self.param_OpkrAutoResume = int(self.params.get('OpkrAutoResume'))
elif self.command_load == 3:
self.param_OpkrWhoisDriver = int(
self.params.get('OpkrWhoisDriver'))
else:
self.command_load = 0
# speed controller
if self.param_preOpkrAccelProfile != self.param_OpkrAccelProfile:
self.param_preOpkrAccelProfile = self.param_OpkrAccelProfile
if self.param_OpkrAccelProfile == 1:
self.SC = SpdctrlSlow()
elif self.param_OpkrAccelProfile == 2:
self.SC = SpdctrlNormal()
else:
self.SC = SpdctrlNormal()
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.steer_rate_limited = False
# resume
self.resume_cnt = 0
self.last_resume_frame = 0
self.last_lead_distance = 0
self.lkas11_cnt = 0
# hud
self.hud_timer_left = 0
self.hud_timer_right = 0
self.enable_time = 0
self.steer_torque_over_timer = 0
self.steer_torque_ratio = 1
self.timer1 = tm.CTime1000("time")
self.SC = SpdctrlSlow()
self.model_speed = 0
self.model_sum = 0
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.steer_rate_limited = False
self.resume_cnt = 0
self.last_resume_frame = 0
self.last_lead_distance = 0
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above_timer = 0
self.mode_change_timer = 0
self.steer_mode = ""
self.mdps_status = ""
self.lkas_switch = ""
self.lkas11_cnt = 0
self.nBlinker = 0
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.timer1 = tm.CTime1000("time")
self.model_speed = 0
self.model_sum = 0
# hud
self.hud_timer_left = 0
self.hud_timer_right = 0
self.traceCC = trace1.Loger("CarController")
self.cruise_gap = 0
self.cruise_gap_prev = 0
self.cruise_gap_set_init = 0
self.cruise_gap_switch_timer = 0
self.params = Params()
self.mode_change_switch = int(
self.params.get('CruiseStatemodeSelInit'))
self.param_OpkrAccelProfile = int(self.params.get('OpkrAccelProfile'))
self.param_OpkrAutoResume = int(self.params.get('OpkrAutoResume'))
if self.param_OpkrAccelProfile == 1:
self.SC = SpdctrlSlow()
elif self.param_OpkrAccelProfile == 2:
self.SC = SpdctrlNormal()
else:
self.SC = SpdctrlFast()
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.p = SteerLimitParams(CP)
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.steer_rate_limited = False
self.last_resume_frame = 0
self.last_lead_distance = 0
self.resume_cnt = 0
self.lkas11_cnt = 0
self.nBlinker = 0
self.lane_change_torque_lower = 0
self.steer_torque_over_timer = 0
self.steer_torque_ratio = 1
self.steer_torque_ratio_dir = 1
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.timer1 = tm.CTime1000("time")
self.model_speed = 0
self.model_sum = 0
# hud
self.hud_timer_left = 0
self.hud_timer_right = 0
self.hud_sys_state = 0
self.command_cnt = 0
self.command_load = 0
self.params = Params()
self.SC = SpdctrlSlow()
self.traceCC = trace1.Loger("CarController")