from collections import deque import copy import math import numpy as np from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine from opendbc.car import Bus, create_button_events, structs, DT_CTRL from opendbc.car.common.conversions import Conversions as CV from opendbc.car.hyundai.hyundaicanfd import CanBus from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, Buttons, CarControllerParams, CAMERA_SCC_CAR, HyundaiExtFlags from opendbc.car.interfaces import CarStateBase from openpilot.common.params import Params ButtonType = structs.CarState.ButtonEvent.Type PREV_BUTTON_SAMPLES = 8 CLUSTER_SAMPLE_RATE = 20 # frames STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise, Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel, Buttons.LFA_BUTTON: ButtonType.lfaButton} GearShifter = structs.CarState.GearShifter class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt]) self.cruise_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES) self.gear_msg_canfd = "GEAR" if CP.extFlags & HyundaiExtFlags.CANFD_GEARS_69 else \ "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \ "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \ "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \ "GEAR_SHIFTER" if CP.flags & HyundaiFlags.CANFD: self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"] elif CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): self.shifter_values = can_define.dv["ELECT_GEAR"]["Elect_Gear_Shifter"] elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS: self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"] elif self.CP.flags & HyundaiFlags.TCU_GEARS: self.shifter_values = can_define.dv["TCU12"]["CUR_GR"] elif CP.flags & HyundaiFlags.FCEV: self.shifter_values = can_define.dv["EMS20"]["HYDROGEN_GEAR_SHIFTER"] else: self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"] self.accelerator_msg_canfd = "ACCELERATOR" if CP.flags & HyundaiFlags.EV else \ "ACCELERATOR_ALT" if CP.flags & HyundaiFlags.HYBRID else \ "ACCELERATOR_BRAKE_ALT" self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \ "CRUISE_BUTTONS" self.is_metric = False self.buttons_counter = 0 self.cruise_info = {} self.lfa_info = {} self.lfa_alt_info = {} self.lfahda_cluster_info = {} self.adrv_info_161 = None self.adrv_info_200 = None self.adrv_info_1ea = None self.adrv_info_160 = None self.adrv_info_162 = None self.hda_info_4a3 = None self.new_msg_4b4 = None self.tcs_info_373 = None self.mdps_info = {} self.steer_touch_info = {} self.cruise_buttons_msg = None self.hda2_lfa_block_msg = None self.cluster_speed_limit_msg = None # On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz self.cluster_speed = 0 self.cluster_speed_counter = CLUSTER_SAMPLE_RATE self.params = CarControllerParams(CP) self.main_enabled = True if Params().get_int("AutoEngage") == 2 else False self.gear_shifter = GearShifter.drive # Gear_init for Nexo ?? unknown 21.02.23.LSW self.totalDistance = 0.0 self.speedLimitDistance = 0 self.pcmCruiseGap = 0 self.cruise_buttons_alt = False # for CASPER_EV self.MainMode_ACC = False 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] if self.CP.flags & HyundaiFlags.CANFD: return self.update_canfd(can_parsers) ret = structs.CarState() cp_cruise = cp_cam if self.CP.flags & HyundaiFlags.CAMERA_SCC else cp self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0 speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"], cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]]) ret.seatbeltUnlatched = cp.vl["CGW1"]["CF_Gway_DrvSeatBeltSw"] == 0 ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHL_SPD11"]["WHL_SPD_FL"], cp.vl["WHL_SPD11"]["WHL_SPD_FR"], cp.vl["WHL_SPD11"]["WHL_SPD_RL"], cp.vl["WHL_SPD11"]["WHL_SPD_RR"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD self.cluster_speed_counter += 1 if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE: self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"] self.cluster_speed_counter = 0 # Mimic how dash converts to imperial. # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,): self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH) #ret.vEgoCluster = self.cluster_speed * speed_conv ret.steeringAngleDeg = cp.vl["SAS11"]["SAS_Angle"] ret.steeringRateDeg = cp.vl["SAS11"]["SAS_Speed"] ret.yawRate = cp.vl["ESP12"]["YAW_RATE"] ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp( 50, cp.vl["CGW1"]["CF_Gway_TurnSigLh"], cp.vl["CGW1"]["CF_Gway_TurnSigRh"]) ret.steeringTorque = cp.vl["MDPS12"]["CR_Mdps_StrColTq"] ret.steeringTorqueEps = cp.vl["MDPS12"]["CR_Mdps_OutTq"] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0 # cruise state if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.available = self.main_enabled #cp.vl["TCS13"]["ACCEnable"] == 0 ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False ret.cruiseState.nonAdaptive = False elif not self.CP.flags & HyundaiFlags.CC_ONLY_CAR: self.main_enabled = ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1 ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0 ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4. ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2. # Shows 'Cruise Control' on dash ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv ret.pcmCruiseGap = cp_cruise.vl["SCC11"]["TauGapSet"] # TODO: Find brake pressure ret.brake = 0 if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR: ret.brakePressed = cp.vl["TCS13"]["DriverOverride"] == 2 # 2 includes regen braking by user on HEV/EV ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1 ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1 ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1 ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED ret.brakeLights = bool(cp.vl["TCS13"]["BrakeLight"] or ret.brakePressed) if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV): if self.CP.flags & HyundaiFlags.FCEV: ret.gas = cp.vl["FCEV_ACCELERATOR"]["ACCELERATOR_PEDAL"] / 254. elif self.CP.flags & HyundaiFlags.HYBRID: ret.gas = cp.vl["E_EMS11"]["CR_Vcu_AccPedDep_Pos"] / 254. else: ret.gas = cp.vl["E_EMS11"]["Accel_Pedal_Pos"] / 254. ret.gasPressed = ret.gas > 0 else: ret.gas = cp.vl["EMS12"]["PV_AV_CAN"] / 100. ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"]) # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection, # as this seems to be standard over all cars, but is not the preferred method. if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] ret.gearStep = cp.vl["ELECT_GEAR"]["Elect_Gear_Step"] elif self.CP.flags & HyundaiFlags.FCEV: gear = cp.vl["EMS20"]["HYDROGEN_GEAR_SHIFTER"] elif self.CP.flags & HyundaiFlags.CLUSTER_GEARS: gear = cp.vl["CLU15"]["CF_Clu_Gear"] elif self.CP.flags & HyundaiFlags.TCU_GEARS: gear = cp.vl["TCU12"]["CUR_GR"] else: gear = cp.vl["LVR12"]["CF_Lvr_Gear"] ret.gearStep = cp.vl["LVR11"]["CF_Lvr_GearInf"] if not self.CP.carFingerprint in (CAR.HYUNDAI_NEXO): ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) else: gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"] gear_disp = cp.vl["ELECT_GEAR"] gear_shifter = GearShifter.unknown if gear == 1546: # Thank you for Neokii # fix PolorBear 22.06.05 gear_shifter = GearShifter.drive elif gear == 2314: gear_shifter = GearShifter.neutral elif gear == 2569: gear_shifter = GearShifter.park elif gear == 2566: gear_shifter = GearShifter.reverse if gear_shifter != GearShifter.unknown and self.gear_shifter != gear_shifter: self.gear_shifter = gear_shifter ret.gearShifter = self.gear_shifter if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR and (not self.CP.openpilotLongitudinalControl or self.CP.flags & HyundaiFlags.CAMERA_SCC): aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12" aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct" aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0 scc_warning = cp_cruise.vl["SCC12"]["TakeOverReq"] == 1 # sometimes only SCC system shows an FCW aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0 ret.stockFcw = (aeb_warning or scc_warning) and not aeb_braking ret.stockAeb = aeb_warning and aeb_braking if self.CP.enableBsm: ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0 ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0 # save the entire LKAS11 and CLU11 self.lkas11 = copy.copy(cp_cam.vl["LKAS11"]) self.clu11 = copy.copy(cp.vl["CLU11"]) self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"] # 0 NOT ACTIVE, 1 ACTIVE prev_cruise_buttons = self.cruise_buttons[-1] #self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) #carrot {{ if self.CP.extFlags & HyundaiExtFlags.CRUISE_BUTTON_ALT.value and cp.vl_all["CRUISE_BUTTON_ALT"]["SET_ME_1"] == 1: self.cruise_buttons_alt = True cruise_button = [Buttons.NONE] if self.cruise_buttons_alt: lfa_button = cp.vl.get("CRUISE_BUTTON_LFA", {}).get("CruiseSwLfa", 0) cruise_button = [Buttons.LFA_BUTTON] if lfa_button > 0 else cp.vl_all["CRUISE_BUTTON_ALT"]["CruiseSwState"] elif self.CP.extFlags & HyundaiExtFlags.HAS_LFA_BUTTON.value and cp.vl.get("BCM_PO_11", {}).get("LFA_Pressed", 0): cruise_button = [Buttons.LFA_BUTTON] else: cruise_button = cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"] self.cruise_buttons.extend(cruise_button) # }} carrot prev_main_buttons = self.main_buttons[-1] #self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"]) if self.cruise_buttons_alt: self.main_buttons.extend(cp.vl_all["CRUISE_BUTTON_ALT"]["CruiseSwMain"]) else: self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"]) self.mdps12 = copy.copy(cp.vl["MDPS12"]) ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT), *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})] if not self.CP.flags & HyundaiFlags.CC_ONLY_CAR: tpms_unit = cp.vl["TPMS11"]["UNIT"] * 0.725 if int(cp.vl["TPMS11"]["UNIT"]) > 0 else 1. ret.tpms.fl = tpms_unit * cp.vl["TPMS11"]["PRESSURE_FL"] ret.tpms.fr = tpms_unit * cp.vl["TPMS11"]["PRESSURE_FR"] ret.tpms.rl = tpms_unit * cp.vl["TPMS11"]["PRESSURE_RL"] ret.tpms.rr = tpms_unit * cp.vl["TPMS11"]["PRESSURE_RR"] self.scc11 = cp_cruise.vl["SCC11"] if "SCC11" in cp_cruise.vl else None self.scc12 = cp_cruise.vl["SCC12"] if "SCC12" in cp_cruise.vl else None self.scc13 = cp_cruise.vl["SCC13"] if "SCC13" in cp_cruise.vl else None self.scc14 = cp_cruise.vl["SCC14"] if "SCC14" in cp_cruise.vl else None cluSpeed = cp.vl["CLU11"]["CF_Clu_Vanz"] decimal = cp.vl["CLU11"]["CF_Clu_VanzDecimal"] if 0. < decimal < 0.5: cluSpeed += decimal ret.vEgoCluster = cluSpeed * speed_conv vEgoClu, aEgoClu = self.update_clu_speed_kf(ret.vEgoCluster) ret.vCluRatio = (ret.vEgo / vEgoClu) if (vEgoClu > 3. and ret.vEgo > 3.) else 1.0 if self.CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value: speedLimit = cp.vl["Navi_HU"]["SpeedLim_Nav_Clu"] speedLimitCam = cp.vl["Navi_HU"]["SpeedLim_Nav_Cam"] ret.speedLimit = speedLimit if speedLimit < 255 and speedLimitCam == 1 else 0 speed_limit_cam = speedLimitCam == 1 else: ret.speedLimit = 0 ret.speedLimitDistance = 0 speed_limit_cam = False self.update_speed_limit(ret, speed_limit_cam) if prev_main_buttons == 0 and self.main_buttons[-1] != 0: self.main_enabled = not self.main_enabled return ret def update_speed_limit(self, ret, speed_limit_cam): self.totalDistance += ret.vEgo * DT_CTRL if ret.speedLimit > 0 and not ret.gasPressed and speed_limit_cam: if self.speedLimitDistance <= self.totalDistance: self.speedLimitDistance = self.totalDistance + ret.speedLimit * 6 self.speedLimitDistance = max(self.totalDistance + 1, self.speedLimitDistance) else: self.speedLimitDistance = self.totalDistance ret.speedLimitDistance = self.speedLimitDistance - self.totalDistance def update_canfd(self, can_parsers) -> structs.CarState: cp = can_parsers[Bus.pt] cp_cam = can_parsers[Bus.cam] ret = structs.CarState() self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1 speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS if self.CP.flags & (HyundaiFlags.EV | HyundaiFlags.HYBRID): offset = 255. if self.CP.flags & HyundaiFlags.EV else 1023. ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset ret.gasPressed = ret.gas > 1e-5 else: ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"]) ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1 ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1 ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0 gear = cp.vl[self.gear_msg_canfd]["GEAR"] ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear)) if self.CP.extFlags & HyundaiExtFlags.CANFD_TPMS.value: tpms_unit = cp.vl["TPMS"]["UNIT"] * 0.725 if int(cp.vl["TPMS"]["UNIT"]) > 0 else 1. ret.tpms.fl = tpms_unit * cp.vl["TPMS"]["PRESSURE_FL"] ret.tpms.fr = tpms_unit * cp.vl["TPMS"]["PRESSURE_FR"] ret.tpms.rl = tpms_unit * cp.vl["TPMS"]["PRESSURE_RL"] ret.tpms.rr = tpms_unit * cp.vl["TPMS"]["PRESSURE_RR"] # TODO: figure out positions ret.wheelSpeeds = self.get_wheel_speeds( cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_1"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_2"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_3"], cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_4"], ) ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4. ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD ret.brakeLights = ret.brakePressed or (ret.aEgo < -0.5) ### TODO: �ӽ÷� brakeLight�� ������. ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"] ret.steeringAngleDeg = cp.vl["STEERING_SENSORS"]["STEERING_ANGLE"] * -1 ret.steeringTorque = cp.vl["MDPS"]["STEERING_COL_TORQUE"] ret.steeringTorqueEps = cp.vl["MDPS"]["STEERING_OUT_TORQUE"] ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5) ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0 or cp.vl["MDPS"]["LFA2_FAULT"] != 0 #ret.steerFaultTemporary = False self.mdps_info = copy.copy(cp.vl["MDPS"]) if self.CP.extFlags & HyundaiExtFlags.STEER_TOUCH: self.steer_touch_info = copy.copy(cp.vl["STEER_TOUCH_2AF"]) # carrot test left_blinker_lamp = cp.vl["BLINKERS"]["LEFT_LAMP"] or cp.vl["BLINKERS"]["LEFT_LAMP_ALT"] right_blinker_lamp = cp.vl["BLINKERS"]["RIGHT_LAMP"] or cp.vl["BLINKERS"]["RIGHT_LAMP_ALT"] ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, left_blinker_lamp, right_blinker_lamp) # TODO: alt signal usage may be described by cp.vl['BLINKERS']['USE_ALT_LAMP'] #left_blinker_sig, right_blinker_sig = "LEFT_LAMP", "RIGHT_LAMP" #if self.CP.carFingerprint in [CAR.KONA_EV_2ND_GEN, CAR.KIA_CARNIVAL_4TH_GEN]: # left_blinker_sig, right_blinker_sig = "LEFT_LAMP_ALT", "RIGHT_LAMP_ALT" #ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig], # cp.vl["BLINKERS"][right_blinker_sig]) if self.CP.enableBsm: cp_ = cp_cam if (self.CP.flags & HyundaiFlags.CAMERA_SCC and self.CP.extFlags & HyundaiExtFlags.BSM_IN_ADAS.value) else cp #ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 #ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 if self.CP.extFlags & HyundaiExtFlags.BSM_IN_ADAS.value: ret.leftBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_FOUR"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_THREE"] != 0 ret.rightBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_FOUR"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_THREE"] != 0 else: ret.leftBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_TWO"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_LEFT_FOUR"] != 0 ret.rightBlindspot = cp_.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_TWO"] != 0 or cp_.vl["BLINDSPOTS_REAR_CORNERS"]["INDICATOR_RIGHT_FOUR"] != 0 # cruise state if cp.vl[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"] in [Buttons.RES_ACCEL, Buttons.SET_DECEL] and self.CP.openpilotLongitudinalControl: self.main_enabled = True # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement ret.cruiseState.available = self.main_enabled #cp.vl["TCS"]["ACCEnable"] == 0 if self.CP.flags & HyundaiFlags.CAMERA_SCC.value: self.MainMode_ACC = cp_cam.vl["SCC_CONTROL"]["MainMode_ACC"] == 1 self.LFA_ICON = cp_cam.vl["LFAHDA_CLUSTER"]["LFA_ICON"] if self.CP.openpilotLongitudinalControl: # These are not used for engage/disengage since openpilot keeps track of state using the buttons ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1 ret.cruiseState.standstill = False if self.MainMode_ACC: self.main_enabled = True else: cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2) if cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1: # carrot ret.cruiseState.available = self.main_enabled = True ret.pcmCruiseGap = int(np.clip(cp_cruise_info.vl["SCC_CONTROL"]["DISTANCE_SETTING"], 1, 4)) ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1 ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"]) ret.brakeHoldActive = cp.vl["ESP_STATUS"]["AUTO_HOLD"] == 1 and cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] not in (1, 2) speed_limit_cam = False if self.CP.flags & HyundaiFlags.CAMERA_SCC.value: self.cruise_info = copy.copy(cp_cam.vl["SCC_CONTROL"]) self.lfa_info = copy.copy(cp_cam.vl["LFA"]) if self.CP.flags & HyundaiFlags.ANGLE_CONTROL.value: self.lfa_alt_info = copy.copy(cp_cam.vl["LFA_ALT"]) self.lfahda_cluster_info = copy.copy(cp_cam.vl["LFAHDA_CLUSTER"]) if self.CP.extFlags & HyundaiExtFlags.CANFD_161.value: if "ADRV_0x161" in cp_cam.vl: self.adrv_info_161 = copy.copy(cp_cam.vl.get("ADRV_0x161", {})) if "CCNC_0x162" in cp_cam.vl: self.adrv_info_162 = copy.copy(cp_cam.vl.get("CCNC_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: self.adrv_info_1ea = copy.copy(cp_cam.vl.get("ADRV_0x1ea", {})) if "ADRV_0x160" in cp_cam.vl: self.adrv_info_160 = copy.copy(cp_cam.vl.get("ADRV_0x160", {})) if "HDA_INFO_4A3" in cp.vl: self.hda_info_4a3 = copy.copy(cp.vl.get("HDA_INFO_4A3", {})) speedLimit = self.hda_info_4a3["SPEED_LIMIT"] if not self.is_metric: speedLimit *= CV.MPH_TO_KPH ret.speedLimit = speedLimit if speedLimit < 255 else 0 if int(self.hda_info_4a3["NEW_SIGNAL_4"]) == 17: speed_limit_cam = True if "NEW_MSG_4B4" in cp.vl: self.new_msg_4b4 = copy.copy(cp.vl.get("NEW_MSG_4B4", {})) if "TCS" in cp.vl: self.tcs_info_373 = copy.copy(cp.vl.get("TCS", {})) if "CLUSTER_SPEED_LIMIT" in cp.vl: self.cluster_speed_limit_msg = copy.copy(cp.vl.get("CLUSTER_SPEED_LIMIT", {})) if "GEAR" in cp.vl: ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] elif "GEAR_ALT" in cp.vl: ret.gearStep = cp.vl["GEAR_ALT"]["GEAR_STEP"] # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms. # It limits the vehicle speed, overridable by pressing the accelerator past a certain point. # The car will brake, but does not respect positive acceleration commands in this mode # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists) if self.CP.flags & HyundaiFlags.EV: ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1 prev_cruise_buttons = self.cruise_buttons[-1] #self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) #carrot {{ if cp.vl[self.cruise_btns_msg_canfd]["LFA_BTN"]: cruise_button = [Buttons.LFA_BUTTON] else: cruise_button = cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"] self.cruise_buttons.extend(cruise_button) # }} carrot if self.cruise_btns_msg_canfd in cp.vl: self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd]) """ if self.cruise_btns_msg_canfd in cp.vl: #carrot if not cp.vl[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]: pass #print("empty cruise btns...") else: self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd]) """ prev_main_buttons = self.main_buttons[-1] #self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"]) self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"]) if self.main_buttons[-1] != prev_main_buttons and not self.main_buttons[-1]: # and self.CP.openpilotLongitudinalControl: #carrot self.main_enabled = not self.main_enabled print("main_enabled = {}".format(self.main_enabled)) self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"] ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED if self.CP.flags & HyundaiFlags.CANFD_HDA2 and not (self.CP.flags & HyundaiFlags.CAMERA_SCC): self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else cp_cam.vl["CAM_0x2a4"]) speed_conv = CV.KPH_TO_MS # if self.is_metric else CV.MPH_TO_MS cluSpeed = cp.vl["CRUISE_BUTTONS_ALT"]["CLU_SPEED"] ret.vEgoCluster = cluSpeed * speed_conv # MPH단위에서도 KPH로 나오는듯.. vEgoClu, aEgoClu = self.update_clu_speed_kf(ret.vEgoCluster) ret.vCluRatio = (ret.vEgo / vEgoClu) if (vEgoClu > 3. and ret.vEgo > 3.) else 1.0 self.update_speed_limit(ret, speed_limit_cam) paddle_button = self.paddle_button_prev if self.cruise_btns_msg_canfd == "CRUISE_BUTTONS": paddle_button = 1 if cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"] == 1 else 2 if cp.vl["CRUISE_BUTTONS"]["RIGHT_PADDLE"] == 1 else 0 elif self.gear_msg_canfd == "GEAR": paddle_button = 1 if cp.vl["GEAR"]["LEFT_PADDLE"] == 1 else 2 if cp.vl["GEAR"]["RIGHT_PADDLE"] == 1 else 0 ret.buttonEvents = [*create_button_events(self.cruise_buttons[-1], prev_cruise_buttons, BUTTONS_DICT), *create_button_events(paddle_button, self.paddle_button_prev, {1: ButtonType.paddleLeft, 2: ButtonType.paddleRight}), *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})] self.paddle_button_prev = paddle_button return ret def get_can_parsers_canfd(self, CP): pt_messages = [ ("WHEEL_SPEEDS", 100), ("STEERING_SENSORS", 100), ("MDPS", 100), #("BRAKE", 100), ("ESP_STATUS", 100), ("TCS", 50), ("CRUISE_BUTTONS_ALT", 50), #("TPMS", 5), ("BLINKERS", 4), ("DOORS_SEATBELTS", 4), ] if CP.extFlags & HyundaiExtFlags.CANFD_TPMS.value: pt_messages += [ ("TPMS", 5), ] if CP.flags & HyundaiFlags.EV: pt_messages += [ ("ACCELERATOR", 100), ("MANUAL_SPEED_LIMIT_ASSIST", 10), ] else: pt_messages += [ (self.gear_msg_canfd, 100), (self.accelerator_msg_canfd, 100), ] if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS): pt_messages += [ ("CRUISE_BUTTONS", 50) ] if CP.extFlags & HyundaiExtFlags.STEER_TOUCH: pt_messages += [ ("STEER_TOUCH_2AF", 10), ] ## BSM신호가 ADAS인경우 BUS2로 개조되고, 독립인경우 ECAN에서 들어옴. # 개조, 독립 EV6: 1, 1 => True, inADAS: 1, 0 => False # 비개조, 0, 0 => True if CP.enableBsm: if (CP.flags & HyundaiFlags.CAMERA_SCC.value and CP.extFlags & HyundaiExtFlags.BSM_IN_ADAS.value): pass else: pt_messages += [ ("BLINDSPOTS_REAR_CORNERS", 20), ] if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl: pt_messages += [ ("SCC_CONTROL", 50), ] if CP.extFlags & HyundaiExtFlags.CANFD_4A3: pt_messages += [ ("HDA_INFO_4A3", 5), ] #if CP.flags & HyundaiFlags.CANFD_HDA2 and CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value and not (CP.extFlags & HyundaiExtFlags.SCC_BUS2.value): # 어떤차는 bus2에 있음, 내차는 bus0에 있는데.... 이건 옆두부와 관련이 없나? #if CP.flags & HyundaiFlags.CANFD_HDA2: # pt_messages.append(("CLUSTER_SPEED_LIMIT", 10)) if Params().get_int("CanfdDebug") > 0: pt_messages.append(("CLUSTER_SPEED_LIMIT", 10)) cam_messages = [] if CP.flags & HyundaiFlags.CANFD_HDA2 and not (CP.flags & HyundaiFlags.CAMERA_SCC.value): block_lfa_msg = "CAM_0x362" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "CAM_0x2a4" cam_messages += [(block_lfa_msg, 20)] if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC: cam_messages += [ ("SCC_CONTROL", 50), ("LFA", 20), ("LFAHDA_CLUSTER", 20), ] if CP.flags & HyundaiFlags.CANFD_HDA2: cam_messages += [ ("ADRV_0x200", 20), ("ADRV_0x1ea", 20), ("ADRV_0x160", 50), ] if CP.extFlags & HyundaiExtFlags.CANFD_161: cam_messages += [ ("ADRV_0x161", 20), ("CCNC_0x162", 20), ] if CP.flags & HyundaiFlags.ANGLE_CONTROL: cam_messages += [ ("LFA_ALT", 100), ] #if not (CP.flags & HyundaiFlags.CANFD_HDA2) and CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value and (CP.extFlags & HyundaiExtFlags.SCC_BUS2.value) : # cam_messages.append(("CLUSTER_SPEED_LIMIT", 10)) ## BSM신호가 ADAS인경우 BUS2로 개조되고, 독립인경우 ECAN에서 들어옴. # 개조, 독립 EV6: 1, 1 => False, inADAS: 1, 0 => True # 비개조, 0, 0 => False if CP.enableBsm: if (CP.flags & HyundaiFlags.CAMERA_SCC.value and CP.extFlags & HyundaiExtFlags.BSM_IN_ADAS.value): cam_messages += [ ("BLINDSPOTS_REAR_CORNERS", 20), ] return { Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).ECAN), Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).CAM), } def get_can_parsers(self, CP): if CP.flags & HyundaiFlags.CANFD: return self.get_can_parsers_canfd(CP) pt_messages = [ # address, frequency ("MDPS12", 50), ("TCS11", 100), ("TCS13", 50), ("TCS15", 10), ("CLU11", 50), ("CLU15", 5), ("ESP12", 100), ("CGW1", 10), ("CGW2", 5), ("CGW4", 5), ("WHL_SPD11", 50), ("SAS11", 100), ("TPMS11", 5), ] if CP.flags & HyundaiFlags.CC_ONLY_CAR: pt_messages.remove(("TCS11", 100)) pt_messages.remove(("TCS13", 50)) pt_messages.remove(("TCS15", 10)) pt_messages.remove(("TPMS11", 5)) if not CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CAMERA_SCC) and not (CP.flags & HyundaiFlags.CC_ONLY_CAR): pt_messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: pt_messages.append(("FCA11", 50)) if CP.enableBsm: pt_messages.append(("LCA11", 50)) if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): pt_messages.append(("E_EMS11", 50)) pt_messages.append(("EV_Info", 50)) elif CP.flags & HyundaiFlags.FCEV: pt_messages.append(("FCEV_ACCELERATOR", 100)) else: pt_messages += [ ("EMS12", 100), ("EMS16", 100), ] if CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV): pt_messages.append(("ELECT_GEAR", 20)) elif CP.flags & HyundaiFlags.FCEV: pt_messages.append(("EMS20", 100)) elif CP.flags & HyundaiFlags.CLUSTER_GEARS: pass elif CP.flags & HyundaiFlags.TCU_GEARS: pt_messages.append(("TCU12", 100)) else: pt_messages.append(("LVR12", 100)) pt_messages.append(("LVR11", 100)) if CP.extFlags & HyundaiExtFlags.HAS_LFA_BUTTON.value: pt_messages.append(("BCM_PO_11", 50)) if CP.extFlags & HyundaiExtFlags.NAVI_CLUSTER.value: pt_messages.append(("Navi_HU", 5)) if CP.extFlags & HyundaiExtFlags.CRUISE_BUTTON_ALT.value: pt_messages.append(("CRUISE_BUTTON_ALT", 6)) pt_messages.append(("CRUISE_BUTTON_LFA", 6)) cam_messages = [ ("LKAS11", 100) ] if CP.flags & HyundaiFlags.CAMERA_SCC.value: cam_messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.extFlags & HyundaiExtFlags.HAS_SCC13.value: cam_messages += [ ("SCC13", 0), ] if CP.extFlags & HyundaiExtFlags.HAS_SCC14.value: cam_messages += [ ("SCC14", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: cam_messages += [ ("FCA11", 50), ] if CP.extFlags & HyundaiExtFlags.HAS_LFAHDA.value: cam_messages += [("LFAHDA_MFC", 20)] if not CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CAMERA_SCC: cam_messages += [ ("SCC11", 50), ("SCC12", 50), ] if CP.flags & HyundaiFlags.USE_FCA.value: cam_messages.append(("FCA11", 50)) return { Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0), Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2), }