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)