def update(self, CC, CS): actuators = CC.actuators hud_control = CC.hudControl # Steering Torque new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) self.steer_rate_limited = new_steer != apply_steer if not CC.latActive: apply_steer = 0 self.apply_steer_last = apply_steer sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, hud_control) can_sends = [] if self.CP.carFingerprint in HDA2_CAR: # steering control can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer)) # cruise cancel if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: if CC.cruiseControl.cancel: for _ in range(20): can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False)) self.last_button_frame = self.frame # cruise standstill resume elif CC.cruiseControl.resume: can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True)) self.last_button_frame = self.frame else: # tester present - w/ no response (keeps radar disabled) if self.CP.openpilotLongitudinalControl: if self.frame % 100 == 0: can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0]) can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning)) if not self.CP.openpilotLongitudinalControl: if CC.cruiseControl.cancel: can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL)) elif CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25) self.last_button_frame = self.frame if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: accel = actuators.accel jerk = 0 if CC.longActive: jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7) if accel < 0: accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel]) accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), hud_control.leadVisible, set_speed_in_units, stopping, CS.out.gasPressed)) self.accel = accel # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022): can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled)) # 5 Hz ACC options if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: can_sends.extend(hyundaican.create_acc_opt(self.packer)) # 2 Hz front radar options if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl: can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.params.STEER_MAX new_actuators.accel = self.accel self.frame += 1 return new_actuators, can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed, left_lane, right_lane, left_lane_depart, right_lane_depart): # Steering Torque new_steer = int(round(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 when temp fault is active, or below LKA minimum speed lkas_active = enabled and not CS.out.steerWarning and CS.out.vEgo >= CS.CP.minSteerSpeed 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 = [] # tester present - w/ no response (keeps radar disabled) if CS.CP.openpilotLongitudinalControl: if (frame % 100) == 0: 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)) if not CS.CP.openpilotLongitudinalControl: if pcm_cancel_cmd: can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL)) elif CS.out.cruiseState.standstill: # send resume at a max freq of 10Hz if (frame - self.last_resume_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25) self.last_resume_frame = frame if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl: lead_visible = False accel = actuators.accel if enabled else 0 jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7) if accel < 0: accel = interp(accel - CS.out.aEgo, [-1.0, -0.5], [2 * accel, accel]) accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX) stopping = (actuators.longControlState == LongCtrlState.stopping) set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH) can_sends.extend(create_acc_commands(self.packer, enabled, accel, jerk, int(frame / 2), lead_visible, set_speed_in_units, stopping)) self.accel = accel # 20 Hz LFA MFA message if frame % 5 == 0 and self.car_fingerprint in [CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020]: can_sends.append(create_lfahda_mfc(self.packer, enabled)) # 5 Hz ACC options if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl: can_sends.extend(create_acc_opt(self.packer)) # 2 Hz front radar options if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl: can_sends.append(create_frt_radar_opt(self.packer)) new_actuators = actuators.copy() new_actuators.steer = apply_steer / self.p.STEER_MAX new_actuators.accel = self.accel return new_actuators, can_sends