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fix (#153) corner radar display

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add lf,lr,rf,rr detect
box -> car
This commit is contained in:
Lee Jong Mun 2025-04-21 22:29:28 +09:00 committed by GitHub
parent 81cdecd7da
commit f60101314d
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GPG Key ID: B5690EEEBB952194
3 changed files with 61 additions and 36 deletions
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9
opendbc_repo/opendbc/car/hyundai/carstate.py
View File

@ -94,6 +94,11 @@ class CarState(CarStateBase):
self.LFA_ICON = 0
self.paddle_button_prev = 0
self.lf_distance = 0
self.rf_distance = 0
self.lr_distance = 0
self.rr_distance = 0
def update(self, can_parsers) -> structs.CarState:
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
@ -424,6 +429,10 @@ class CarState(CarStateBase):
self.adrv_info_161 = copy.copy(cp_cam.vl.get("ADRV_0x161", {}))
if "ADRV_0x162" in cp_cam.vl:
self.adrv_info_162 = copy.copy(cp_cam.vl.get("ADRV_0x162", {}))
self.lf_distance = cp_cam.vl["CCNC_0x162"]["LF_DETECT_DISTANCE"]
self.rf_distance = cp_cam.vl["CCNC_0x162"]["RF_DETECT_DISTANCE"]
self.lr_distance = cp_cam.vl["CCNC_0x162"]["LR_DETECT_DISTANCE"]
self.rr_distance = cp_cam.vl["CCNC_0x162"]["RR_DETECT_DISTANCE"]
if "ADRV_0x200" in cp_cam.vl:
self.adrv_info_200 = copy.copy(cp_cam.vl.get("ADRV_0x200", {}))
if "ADRV_0x1ea" in cp_cam.vl:

13
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
View File

@ -537,13 +537,24 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control, disp_angle
if CS.adrv_info_162 is not None:
values = CS.adrv_info_162
if hud_control.leadDistance > 0:
values["FF_DETECT_POS"] = hud_control.leadDistance
values["FF_DISTANCE"] = hud_control.leadDistance
#values["FF_DETECT"] = 11 if hud_control.leadRelSpeed > -0.1 else 12 # bicycle
#values["FF_DETECT"] = 5 if hud_control.leadRelSpeed > -0.1 else 6 # truck
ff_type = 3 if hud_control.leadRadar == 1 else 13
values["FF_DETECT"] = ff_type if hud_control.leadRelSpeed > -0.1 else ff_type + 1
#values["FF_DETECT_LAT"] = - hud_control.leadDPath
sensors = [
('lf', 'LF_DETECT'),
('rf', 'RF_DETECT'),
('lr', 'LR_DETECT'),
('rr', 'RR_DETECT')
]
for sensor_key, detect_key in sensors:
distance = getattr(CS, f"{sensor_key}_distance")
if distance > 0:
values[detect_key] = 3 if distance > 30 else 4
"""
values["FAULT_FCA"] = 0

33
opendbc_repo/opendbc/dbc/hyundai_canfd.dbc
View File

@ -316,20 +316,23 @@ BO_ 354 ADRV_0x162: 32 CCNC
SG_ SPEEDLIMIT_WEATHER : 48|4@1+ (1,0) [0|15] "" XXX
SG_ VIBRATE : 52|1@0+ (1,0) [0|1] "" XXX
SG_ FF_DETECT : 64|5@1+ (1,0) [0|31] "" XXX
SG_ FF_DETECT_POS : 69|11@1+ (0.1,0) [0|2047] "m" XXX
SG_ FF_DETECT_LAT : 80|7@1- (0.1,0) [0|127] "" XXX
SG_ FF_DISTANCE : 69|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ FF_LATERAL : 80|7@1+ (0.1,0) [0|127] "m" XXX
SG_ FF_DETECT_ALT : 88|5@1+ (1,0) [0|31] "" XXX
SG_ FF_DISTANCE_ALT : 93|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ FF_LATERAL_ALT : 104|7@1+ (0.1,0) [0|127] "m" XXX
SG_ LF_DETECT : 112|5@1+ (1,0) [0|31] "" XXX
SG_ LF_DETECT_POS : 117|10@1+ (0.1,0) [0|1023] "m" XXX
SG_ LF_DETECT_LAT : 128|7@1+ (1,0) [0|127] "" XXX
SG_ LF_DETECT_DISTANCE : 117|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LF_DETECT_LATERAL : 128|7@1+ (0.1,0) [0|127] "m" XXX
SG_ RF_DETECT : 136|5@1+ (1,0) [0|31] "" XXX
SG_ RF_DETECT_POS : 141|10@1+ (0.1,0) [0|1023] "m" XXX
SG_ RF_DETECT_LAT : 152|7@1+ (1,0) [0|127] "" XXX
SG_ RF_DETECT_DISTANCE : 141|11@1+ (0.1,0) [0|204.7] "m" XXX
SG_ RF_DETECT_LATERAL : 152|7@1+ (0.1,0) [0|127] "m" XXX
SG_ LR_DETECT : 163|5@1+ (1,0) [0|31] "" XXX
SG_ LR_DETECT_POS : 168|9@1+ (1,0) [0|511] "" XXX
SG_ LR_DETECT_LAT : 177|7@1+ (1,0) [0|127] "" XXX
SG_ LR_DETECT_DISTANCE : 168|9@1+ (0.1,0) [0|204.7] "m" XXX
SG_ LR_DETECT_LATERAL : 177|7@1+ (0.1,0) [0|127] "m" XXX
SG_ RR_DETECT : 192|5@1+ (1,0) [0|31] "" XXX
SG_ RR_DETECT_POS : 197|9@1+ (0.1,0) [0|511] "m" XXX
SG_ RR_DETECT_LAT : 206|7@1+ (1,0) [0|127] "" XXX
SG_ RR_DETECT_DISTANCE : 197|9@1+ (0.1,0) [0|204.7] "m" XXX
SG_ RR_DETECT_LATERAL : 206|7@1+ (0.1,0) [0|127] "m" XXX
SG_ FAULT_FSS : 213|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_FCA : 216|3@1+ (1,0) [0|7] "" XXX
SG_ FAULT_LSS : 219|3@1+ (1,0) [0|7] "" XXX
@ -945,10 +948,12 @@ VAL_ 354 SIGNS 0 "HIDDEN" 1 "PEDESTRIAN_CROSSING" 2 "SCHOOL_CROSSWALK" 8 "STOP"
VAL_ 354 SPEEDLIMIT_FLASH 0 "HIDDEN" 1 "ERROR" 2 "NORMAL" 4 "RED";
VAL_ 354 SPEEDLIMIT_WEATHER 0 "HIDDEN" 1 "RAIN" 2 "SNOW" 3 "RAIN+SNOW" 4 "TRAILER";
VAL_ 354 VIBRATE 0 "NONE" 1 "VIBRATE";
VAL_ 354 LEAD 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 LEAD_ALT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "DIM CONE" 4 "ORANGE CONE";
VAL_ 354 LEAD_LEFT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 LEAD_RIGHT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 FF_DETECT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 FF_DETECT_ALT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "DIM CONE" 4 "ORANGE CONE";
VAL_ 354 LF_DETECT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 LR_DETECT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 RF_DETECT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 RR_DETECT 0 "HIDDEN" 1 "GRAY BOX" 2 "WHITE BOX" 3 "GRAY CAR" 4 "WHITE CAR" 5 "GRAY TRUCK" 6 "WHITE TRUCK" 7 "GRAY PERSON" 8 "WHITE PERSON" 9 "GRAY BICYCLE" 10 "WHITE BICYCLE" 11 "GRAY MOTORCYCLE" 12 "WHITE MOTORCYCLE" 13 "DARK CONE" 14 "ORANGE CONE";
VAL_ 354 FAULT_FSS 0 "HIDDEN" 1 "CHECK_FORWARD_SAFETY_SYSTEM" 2 "FORWARD_SAFETY_SYSTEM_LIMITED_CAMERA_OBSCURED" 3 "FORWARD_SAFETY_SYSTEM_LIMITED_RADAR_BLOCKED";
VAL_ 354 FAULT_FCA 0 "HIDDEN" 1 "CHECK_FORWARD_SIDE_SAFETY_SYSTEM" 2 "FORWARD_SIDE_SAFETY_SYSTEM_LIMITED_CAMERA_OBSCURED" 3 "FORWARD_SIDE_SAFETY_SYSTEM_LIMITED_RADAR_BLOCKED";
VAL_ 354 FAULT_LSS 0 "HIDDEN" 1 "CHECK_LANE_SAFETY_SYSTEM" 2 "LANE_SAFETY_SYSTEM_DISABLED_CAMERA_OBSCURED";