def __init__(self, dbc_name, CP, VM): self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.cp_oplongcontrol = CP.openpilotLongitudinalControl self.packer = CANPacker(dbc_name) self.accel_steady = 0 self.accel_lim_prev = 0. self.accel_lim = 0. self.steer_rate_limited = False self.p = CarControllerParams(CP) self.usestockscc = True self.lead_visible = False self.lead_debounce = 0 self.gapsettingdance = 2 self.gapcount = 0 self.current_veh_speed = 0 self.lfainFingerprint = CP.lfaAvailable self.vdiff = 0 self.resumebuttoncnt = 0 self.fca11supcnt = self.fca11inc = self.fca11alivecnt = self.fca11cnt13 = self.scc11cnt = self.scc12cnt = 0 self.lastresumeframe = 0 self.counter_init = False self.fca11maxcnt = 0xD self.radarDisableActivated = False self.radarDisableResetTimer = 0 self.radarDisableOverlapTimer = 0 self.sendaccmode = not CP.radarDisablePossible self.enabled = False self.sm = messaging.SubMaster(['controlsState']) self.steer_wind_down = False
def __init__(self, dbc_name, CP, VM): self.p = CarControllerParams(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
def __init__(self, dbc_name, CP, VM): self.CP = CP self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.frame = 0 self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0 self.accel = 0
def __init__(self, dbc_name, CP, VM): # dp self.last_blinker_on = False self.blinker_end_frame = 0. self.dp_hkg_smart_mdps = Params().get('dp_hkg_smart_mdps') == b'1' self.p = CarControllerParams(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
def __init__(self, dbc_name, CP, VM): self.CP = CP self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.frame = 0 self.apply_steer_last = 0 self.last_button_frame = 0 self.accel = 0 self.lkas11_cnt = 0 self.scc12_cnt = -1 self.resume_cnt = 0 self.last_lead_distance = 0 self.resume_wait_timer = 0 self.turning_signal_timer = 0 self.longcontrol = CP.openpilotLongitudinalControl self.scc_live = not CP.radarOffCan self.turning_indicator_alert = False param = Params() self.mad_mode_enabled = param.get_bool('MadModeEnabled') self.ldws_opt = param.get_bool('IsLdwsCar') self.stock_navi_decel_enabled = param.get_bool('StockNaviDecelEnabled') self.keep_steering_turn_signals = param.get_bool( 'KeepSteeringTurnSignals') self.haptic_feedback_speed_camera = param.get_bool( 'HapticFeedbackWhenSpeedCamera') self.scc_smoother = SccSmoother() self.last_blinker_frame = 0 self.prev_active_cam = False self.active_cam_timer = 0 self.last_active_cam_frame = 0 self.angle_limit_counter = 0 self.cut_steer_frames = 0 self.cut_steer = False self.steer_fault_max_angle = CP.steerFaultMaxAngle self.steer_fault_max_frames = CP.steerFaultMaxFrames
def __init__(self, dbc_name, CP, VM): self.p = CarControllerParams(CP) self.packer = CANPacker(dbc_name) self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.steer_rate_limited = False self.lkas11_cnt = 0 self.scc12_cnt = 0 self.last_resume_frame = 0 self.last_lead_distance = 0 self.turning_signal_timer = 0 self.longcontrol = CP.openpilotLongitudinalControl self.scc_live = not CP.radarOffCan self.accel_steady = 0 if CP.spasEnabled: self.en_cnt = 0 self.apply_steer_ang = 0.0 self.en_spas = 3 self.mdps11_stat_last = 0 self.spas_always = False
def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) if CP.carFingerprint in CANFD_CAR: self.shifter_values = can_define.dv["GEAR_SHIFTER"]["GEAR"] elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]: self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] else: # preferred and elect gear methods use same definition self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.brake_error = False self.park_brake = False self.buttons_counter = 0 self.params = CarControllerParams(CP)