def _update(self, c):
ret = self.CS.update(self.cp, self.cp_loopback)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
# Suppress resume button if we're resuming from stop so we don't adjust speed.
if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill):
be.type = ButtonType.unknown
ret.buttonEvents = [be]
events = self.create_common_events(ret, pcm_enable=False)
if ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if ret.cruiseState.standstill:
events.add(EventName.resumeRequired)
if ret.vEgo < self.CP.minSteerSpeed:
events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses
events.events.extend(create_button_enable_events(ret.buttonEvents))
ret.events = events.to_msg()
return ret
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
# Main button also can trigger an engagement on these cars
allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
# Handle CF_Clu_CruiseSwState changing buttons mid-press
if self.CS.cruise_buttons[-1] != 0 and self.CS.prev_cruise_buttons != 0:
buttonEvents.append(create_button_event(0, self.CS.prev_cruise_buttons, BUTTONS_DICT))
ret.buttonEvents = buttonEvents
events.events.extend(create_button_enable_events(ret.buttonEvents))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
if ret.vEgo > (self.CP.minSteerSpeed + 4.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(car.CarEvent.EventName.belowSteerSpeed)
ret.events = events.to_msg()
return ret
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
buttonEvents.append(
create_button_event(self.CS.cruise_buttons,
self.CS.prev_cruise_buttons, BUTTONS_DICT))
if self.CS.cruise_setting != self.CS.prev_cruise_setting:
buttonEvents.append(
create_button_event(self.CS.cruise_setting,
self.CS.prev_cruise_setting,
{1: ButtonType.altButton1}))
ret.buttonEvents = buttonEvents
# events
events = self.create_common_events(ret, pcm_enable=False)
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.belowEngageSpeed)
if self.CP.pcmCruise:
# we engage when pcm is active (rising edge)
if ret.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not ret.cruiseState.enabled and (
c.actuators.accel >= 0.
or not self.CP.openpilotLongitudinalControl):
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if ret.vEgo < self.CP.minEnableSpeed + 2.:
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
# handle button presses
events.events.extend(
create_button_enable_events(ret.buttonEvents, self.CP.pcmCruise))
ret.events = events.to_msg()
return ret
def create_common_events(self,
cs_out,
extra_gears=None,
pcm_enable=True,
allow_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (
extra_gears is None or cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
if cs_out.parkingBrake:
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle button presses
events.events.extend(
create_button_enable_events(cs_out.buttonEvents,
pcm_cruise=self.CP.pcmCruise))
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(
1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.silent_steer_warning = False
if cs_out.steerFaultPermanent:
events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
