def get_car(logcan, sendcan):
candidate, fingerprints, vin, car_fw, source = fingerprint(logcan, sendcan)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
candidate = "KIA NIRO HEV 2018"
if Params().get("CarModel", encoding="utf8") is not None:
car_name = Params().get("CarModel", encoding="utf8")
car_name = car_name.rstrip('\n')
candidate = car_name
CarInterface, CarController, CarState = interfaces[candidate]
car_params = CarInterface.get_params(candidate, fingerprints, car_fw)
car_params.carVin = vin
car_params.carFw = car_fw
car_params.fingerprintSource = source
return CarInterface(car_params, CarController, CarState), car_params
def lead_control(self, CS, sm, CC):
dRel = CC.dRel
yRel = CC.yRel
vRel = CC.vRel
active_time = 10
btn_type = Buttons.NONE
#lead_1 = sm['radarState'].leadOne
long_wait_cmd = 500
set_speed = int(round(self.cruise_set_speed_kph))
if self.long_curv_timer < 600:
self.long_curv_timer += 1
# 선행 차량 거리유지
lead_wait_cmd, lead_set_speed = self.update_lead(
sm, CS, dRel, yRel, vRel)
# 커브 감속.
model_speed = CC.model_speed #cal_model_speed( CS.out.vEgo )
curv_wait_cmd, curv_set_speed = self.update_curv(CS, sm, model_speed)
if curv_wait_cmd != 0:
if lead_set_speed > curv_set_speed:
set_speed = curv_set_speed
long_wait_cmd = curv_wait_cmd
else:
set_speed = lead_set_speed
long_wait_cmd = lead_wait_cmd
else:
set_speed = lead_set_speed
long_wait_cmd = lead_wait_cmd
if set_speed >= int(round(self.cruise_set_speed_kph)):
set_speed = int(round(self.cruise_set_speed_kph))
elif set_speed <= 30:
set_speed = 30
# control process
target_set_speed = set_speed
delta = int(round(set_speed)) - int(CS.VSetDis)
dec_step_cmd = 1
camspeed = Params().get("LimitSetSpeedCamera", encoding="utf8")
if camspeed is not None:
self.map_spd_camera = int(float(camspeed.rstrip('\n')))
self.map_spd_enable = self.map_spd_camera > 29
else:
self.map_spd_enable = False
self.map_spd_camera = 0
if self.long_curv_timer < long_wait_cmd:
pass
elif delta > 0:
if ((self.map_spd_camera +
round(self.map_spd_camera * 0.01 * self.map_spd_limit_offset))
== int(CS.VSetDis)) and self.map_spd_enable:
set_speed = int(CS.VSetDis) + 0
btn_type = Buttons.NONE
self.long_curv_timer = 0
else:
set_speed = int(CS.VSetDis) + dec_step_cmd
btn_type = Buttons.RES_ACCEL
self.long_curv_timer = 0
elif delta < 0:
set_speed = int(CS.VSetDis) - dec_step_cmd
btn_type = Buttons.SET_DECEL
self.long_curv_timer = 0
if self.cruise_set_mode == 0:
btn_type = Buttons.NONE
self.update_log(CS, set_speed, target_set_speed, long_wait_cmd)
return btn_type, set_speed, active_time
