import numpy as np from iqdbc.can import CANPacker from iqdbc.car import Bus, DT_CTRL, make_tester_present_msg, structs from iqdbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance from iqdbc.car.common.conversions import Conversions as CV from iqdbc.car.hyundai import hyundaicanfd, hyundaican from iqdbc.car.hyundai.carstate import CarState from iqdbc.car.hyundai.hyundaicanfd import CanBus from iqdbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CAN_GEARS, HyundaiExtFlags from iqdbc.car.interfaces import CarControllerBase from iqdbc.car.vehicle_model import VehicleModel VisualAlert = structs.CarControl.HUDControl.VisualAlert LongCtrlState = structs.CarControl.Actuators.LongControlState from iqpilot.common.params import Params # EPS faults if you apply torque while the steering angle is above 90 degrees for more than 1 second # All slightly below EPS thresholds to avoid fault MAX_ANGLE = 85 MAX_ANGLE_FRAMES = 89 MAX_ANGLE_CONSECUTIVE_FRAMES = 2 DRIVER_TORQUE_FILTER_TAU = 0.12 PRE_OVERRIDE_PREDICTION_TIME = 0.15 PRE_OVERRIDE_START_RATIO = 0.90 PRE_OVERRIDE_FULL_RATIO = 1.05 PRE_OVERRIDE_RAW_MIN_RATIO = 0.70 PRE_OVERRIDE_FILTERED_MIN_RATIO = 0.65 PRE_OVERRIDE_MIN_RATE_RATIO = 0.50 PRE_OVERRIDE_CONFIRM_FRAMES = 2 PRE_OVERRIDE_MAX_TORQUE_DELTA = -10.0 LOW_SPEED_ANGLE_RATE_RAMP_SPEED = 15.0 * CV.KPH_TO_MS MID_SPEED_ANGLE_RATE_LIMIT_SPEED = 40.0 * CV.KPH_TO_MS vibrate_intervals = [ (0.0, 0.5), (1.0, 1.5), #(2.5, 3.0), #(3.5, 4.0), (5.0, 5.5), (6.0, 6.5), (7.5, 8.0), ] def process_hud_alert(enabled, fingerprint, hud_control): sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)) # initialize to no line visible # TODO: this is not accurate for all cars sys_state = 1 if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning: # HUD alert only display when LKAS status is active sys_state = 3 if enabled or sys_warning else 4 elif hud_control.leftLaneVisible: sys_state = 5 elif hud_control.rightLaneVisible: sys_state = 6 # initialize to no warnings left_lane_warning = 0 right_lane_warning = 0 if hud_control.leftLaneDepart: left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 if hud_control.rightLaneDepart: right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2 return sys_warning, sys_state, left_lane_warning, right_lane_warning def rate_limit(x, x_last, lo, hi): return float(np.clip(x, x_last + lo, x_last + hi)) def apply_steer_angle_limits_physics(desired_sw_deg: float, last_sw_deg: float, v_ego: float, steering_sw_deg: float, lat_active: bool, wheelbase_m: float, steer_ratio: float, steer_sw_max_deg: float, model_v2=None) -> float: max_lat_accel = 8.5 # m/s^2 max_lat_jerk = 4.0 # m/s^3 y_std_1s = 0.1 if model_v2 is not None and len(model_v2.position.yStd) > 10: model_y_std_1s = float(model_v2.position.yStd[10]) if np.isfinite(model_y_std_1s) and model_y_std_1s >= 0.0: y_std_1s = model_y_std_1s max_sw_rate_deg_per_tick = float(np.interp(y_std_1s, [0.1, 0.2, 0.4], [2.0, 1.5, 0.8])) v = max(float(v_ego), 1.0) target_sw = float(np.clip(desired_sw_deg, -steer_sw_max_deg, steer_sw_max_deg)) if v_ego < MID_SPEED_ANGLE_RATE_LIMIT_SPEED: # Keep low/mid-speed angle commands quieter without reducing LKAS_ANGLE_MAX_TORQUE. # Allow the angle, but slow the arrival: 0~15 kph ramps 0.8->1.1 deg/tick, # then 15~40 kph tapers 1.1->0.8 deg/tick. Above 40 kph, physics limits take over. low_mid_speed_cap = float(np.interp(v_ego, [0.0, LOW_SPEED_ANGLE_RATE_RAMP_SPEED, MID_SPEED_ANGLE_RATE_LIMIT_SPEED], [0.8, 1.1, 0.8])) max_sw_rate_deg_per_tick = min(max_sw_rate_deg_per_tick, low_mid_speed_cap) target_rw = target_sw / steer_ratio last_rw = float(last_sw_deg) / steer_ratio # --- accel limit --- rw_max_rad = np.arctan((max_lat_accel * wheelbase_m) / (v * v)) rw_max = float(np.degrees(rw_max_rad)) # --- jerk -> rate limit --- sec2 = 1.2 max_drw_dt = (max_lat_jerk * wheelbase_m) / (v * v * sec2) # rad/s max_drw_per_tick = max_drw_dt * DT_CTRL # rad/tick max_drw_per_tick_deg = float(np.degrees(max_drw_per_tick)) err = abs(target_sw - last_sw_deg) if err > 20.0: max_sw_rate_deg_per_tick = min(max_sw_rate_deg_per_tick, 1.0) max_drw_per_tick_deg = min( max_drw_per_tick_deg, max_sw_rate_deg_per_tick / steer_ratio ) # --- rate limit --- cmd_rw = rate_limit(target_rw, last_rw, -max_drw_per_tick_deg, max_drw_per_tick_deg) # --- accel clip --- cmd_rw = float(np.clip(cmd_rw, -rw_max, rw_max)) if not lat_active: cmd_rw = float(steering_sw_deg) / steer_ratio cmd_sw = cmd_rw * steer_ratio return float(np.clip(cmd_sw, -steer_sw_max_deg, steer_sw_max_deg)) class CarController(CarControllerBase): def __init__(self, dbc_names, CP, CP_IQ=None): super().__init__(dbc_names, CP, CP_IQ or structs.IQCarParams()) self.CAN = CanBus(CP) self.params = CarControllerParams(CP) self.packer = CANPacker(dbc_names[Bus.pt]) self.angle_limit_counter = 0 self.accel_last = 0 self.apply_torque_last = 0 self.car_fingerprint = CP.carFingerprint self.last_button_frame = 0 self.hyundai_jerk = HyundaiJerk() self.speedCameraHapticEndFrame = 0 self.hapticFeedbackWhenSpeedCamera = 0 self.max_angle_frames = MAX_ANGLE_FRAMES self.blinking_signal = False # 1Hz self.blinking_frame = int(1.0 / DT_CTRL) self.soft_hold_mode = 2 self.activateCruise = 0 self.button_wait = 12 self.cruise_buttons_msg_values = None self.cruise_buttons_msg_cnt = 0 self.button_spamming_count = 0 self.prev_clu_speed = 0 self.button_spam1 = 8 self.button_spam2 = 30 self.button_spam3 = 1 self.apply_angle_last = 0 self.lkas_max_torque = 0 self.angle_max_torque = 250 self.steering_pressed_prev = False self.recovering_from_override = False self.full_recovery_frames = 0 self.repeated_override_count = 0 self.override_latched = False self.override_release_frames = 0 self.driver_torque_filtered = 0.0 self.driver_torque_filtered_prev = 0.0 self.pre_override_frames = 0 self.lkas11_active = False self.canfd_debug = 0 self.MainMode_ACC_trigger = 0 self.LFA_trigger = 0 self.activeCarrot = 0 self.camera_scc_params = Params().get_int("HyundaiCameraSCC") self.is_ldws_car = Params().get_bool("IsLdwsCar") self.enable_corner_radar = 0 self.steerDeltaUpOrg = self.steerDeltaUp = self.steerDeltaUpLC = self.params.STEER_DELTA_UP self.steerDeltaDownOrg = self.steerDeltaDown = self.steerDeltaDownLC = self.params.STEER_DELTA_DOWN def update(self, CC, CC_IQ, CS, now_nanos): if self.frame % 50 == 0: params = Params() self.max_angle_frames = params.get_int("MaxAngleFrames") steerMax = params.get_int("CustomSteerMax") steerDeltaUp = params.get_int("CustomSteerDeltaUp") steerDeltaDown = params.get_int("CustomSteerDeltaDown") steerDeltaUpLC = params.get_int("CustomSteerDeltaUpLC") steerDeltaDownLC = params.get_int("CustomSteerDeltaDownLC") if steerMax > 0: self.params.STEER_MAX = steerMax if steerDeltaUp > 0: self.steerDeltaUp = steerDeltaUp #self.params.ANGLE_TORQUE_UP_RATE = steerDeltaUp else: self.steerDeltaUp = self.steerDeltaUpOrg if steerDeltaDown > 0: self.steerDeltaDown = steerDeltaDown #self.params.ANGLE_TORQUE_DOWN_RATE = steerDeltaDown else: self.steerDeltaDown = self.steerDeltaDownOrg if steerDeltaUpLC > 0: self.steerDeltaUpLC = steerDeltaUpLC else: self.steerDeltaUpLC = self.steerDeltaUp if steerDeltaDownLC > 0: self.steerDeltaDownLC = steerDeltaDownLC else: self.steerDeltaDownLC = self.steerDeltaDown self.soft_hold_mode = 1 if params.get_int("AutoCruiseControl") > 1 else 2 self.hapticFeedbackWhenSpeedCamera = int(params.get_int("HapticFeedbackWhenSpeedCamera")) self.button_spam1 = params.get_int("CruiseButtonTest1") self.button_spam2 = params.get_int("CruiseButtonTest2") self.button_spam3 = params.get_int("CruiseButtonTest3") self.speed_from_pcm = params.get_int("SpeedFromPCM") self.canfd_debug = params.get_int("CanfdDebug") self.camera_scc_params = params.get_int("HyundaiCameraSCC") self.enable_corner_radar = params.get_int("EnableCornerRadar") actuators = CC.actuators hud_control = CC.hudControl if hud_control.modelDesire in [3,4]: self.params.STEER_DELTA_UP = self.steerDeltaUpLC self.params.STEER_DELTA_DOWN = self.steerDeltaDownLC else: self.params.STEER_DELTA_UP = self.steerDeltaUp self.params.STEER_DELTA_DOWN = self.steerDeltaDown angle_control = self.CP.flags & HyundaiFlags.ANGLE_CONTROL # steering torque new_torque = int(round(actuators.torque * self.params.STEER_MAX)) apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last, CS.out.steeringTorque, self.params) # >90 degree steering fault prevention self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive, self.angle_limit_counter, self.max_angle_frames, MAX_ANGLE_CONSECUTIVE_FRAMES) #apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, # CS.out.steeringAngleDeg, CC.latActive, self.params.ANGLE_LIMITS) apply_angle = apply_steer_angle_limits_physics( actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg, CC.latActive, self.CP.wheelbase, self.CP.steerRatio, self.params.ANGLE_LIMITS.STEER_ANGLE_MAX, CS.modelV2, ) if angle_control: apply_steer_req = CC.latActive angle_torque_cap = self.angle_max_torque steering_pressed_rising = CS.out.steeringPressed and not self.steering_pressed_prev if steering_pressed_rising: if 0 < self.full_recovery_frames < int(5.0 / DT_CTRL): self.repeated_override_count = min(self.repeated_override_count + 1, 3) self.full_recovery_frames = 0 self.recovering_from_override = True torque_threshold = max(self.params.STEER_THRESHOLD, 1.0) # Filter signed torque so alternating sensor noise cancels out before its # magnitude is used for pre-override prediction. driver_torque = float(CS.out.steeringTorque) driver_torque_abs = abs(driver_torque) if not CC.latActive: self.driver_torque_filtered = driver_torque self.driver_torque_filtered_prev = driver_torque self.pre_override_frames = 0 else: torque_filter_alpha = DT_CTRL / (DRIVER_TORQUE_FILTER_TAU + DT_CTRL) self.driver_torque_filtered_prev = self.driver_torque_filtered self.driver_torque_filtered += torque_filter_alpha * (driver_torque - self.driver_torque_filtered) driver_torque_filtered_abs = abs(self.driver_torque_filtered) driver_torque_filtered_prev_abs = abs(self.driver_torque_filtered_prev) driver_torque_rate = max(0.0, (driver_torque_filtered_abs - driver_torque_filtered_prev_abs) / DT_CTRL) torque_ratio = driver_torque_filtered_abs / torque_threshold raw_torque_ratio = driver_torque_abs / torque_threshold predicted_torque_ratio = ( driver_torque_filtered_abs + driver_torque_rate * PRE_OVERRIDE_PREDICTION_TIME ) / torque_threshold pre_override_candidate = ( CC.latActive and not CS.out.steeringPressed and raw_torque_ratio > PRE_OVERRIDE_RAW_MIN_RATIO and torque_ratio > PRE_OVERRIDE_FILTERED_MIN_RATIO and predicted_torque_ratio > PRE_OVERRIDE_START_RATIO and driver_torque_rate > torque_threshold * PRE_OVERRIDE_MIN_RATE_RATIO ) self.pre_override_frames = self.pre_override_frames + 1 if pre_override_candidate else 0 pre_override_yield = 0.0 if self.pre_override_frames >= PRE_OVERRIDE_CONFIRM_FRAMES: pre_override_yield = float(np.interp( predicted_torque_ratio, [PRE_OVERRIDE_START_RATIO, PRE_OVERRIDE_FULL_RATIO], [0.0, 1.0], )) recovery_allowed = False if CS.out.steeringPressed: # Start yielding immediately when driver override is confirmed. self.override_latched = True self.override_release_frames = 0 torque_delta = -20.0 elif pre_override_yield > 0.0: # Start handing off gently before steeringPressed flips to avoid a sharp torque drop. torque_delta = PRE_OVERRIDE_MAX_TORQUE_DELTA * pre_override_yield elif self.lkas_max_torque >= self.angle_max_torque: # Once fully recovered, hold full authority until the next driver override. torque_delta = 0.0 elif self.override_latched: # Hold reduced authority until driver torque stays below 60% for 0.2 seconds. self.override_release_frames = self.override_release_frames + 1 if torque_ratio < 0.6 else 0 if self.override_release_frames >= int(0.2 / DT_CTRL): self.override_latched = False self.override_release_frames = 0 recovery_allowed = True else: torque_delta = 0.0 else: recovery_allowed = True if recovery_allowed: # Use one-second model uncertainty to set the base torque recovery time. # Missing or invalid model data falls back to a moderate 1.5-second recovery. y_std_1s = 0.2 if CS.modelV2 is not None and len(CS.modelV2.position.yStd) > 10: model_y_std_1s = float(CS.modelV2.position.yStd[10]) if np.isfinite(model_y_std_1s) and model_y_std_1s >= 0.0: y_std_1s = model_y_std_1s recovery_time = float(np.interp(y_std_1s, [0.1, 0.2, 0.3, 0.4], [0.5, 0.8, 1.5, 3.0])) recovery_time = max(recovery_time, float(np.interp( self.repeated_override_count, [0, 1, 2, 3], [0.1, 1.0, 2.0, 3.0], ))) base_rate_up = (self.angle_max_torque - self.params.ANGLE_MIN_TORQUE) * DT_CTRL / recovery_time # During recovery, taper the rate to zero. Only steeringPressed can reduce authority. torque_delta = base_rate_up * float(np.interp(torque_ratio, [0.6, 0.8], [1.0, 0.0])) self.lkas_max_torque = float(np.clip(self.lkas_max_torque + torque_delta, self.params.ANGLE_MIN_TORQUE, angle_torque_cap)) if not CS.out.steeringPressed and self.recovering_from_override and self.lkas_max_torque >= self.angle_max_torque: self.recovering_from_override = False self.full_recovery_frames = 1 elif not CS.out.steeringPressed and self.full_recovery_frames > 0: self.full_recovery_frames += 1 if self.full_recovery_frames >= int(5.0 / DT_CTRL): self.full_recovery_frames = 0 self.repeated_override_count = 0 if not CC.latActive: apply_torque = 0 self.lkas_max_torque = 0 self.recovering_from_override = False self.full_recovery_frames = 0 self.repeated_override_count = 0 self.override_latched = False self.override_release_frames = 0 self.driver_torque_filtered = 0.0 self.driver_torque_filtered_prev = 0.0 self.pre_override_frames = 0 self.steering_pressed_prev = CS.out.steeringPressed if CC.latActive else False self.apply_angle_last = apply_angle # Hold torque with induced temporary fault when cutting the actuation bit torque_fault = CC.latActive and not apply_steer_req self.apply_torque_last = apply_torque # accel + longitudinal accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)) stopping = actuators.longControlState == LongCtrlState.stopping set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) # HUD messages sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint, hud_control) active_speed_decel = hud_control.activeCarrot == 3 and self.activeCarrot != 3 # 3: Speed Decel self.activeCarrot = hud_control.activeCarrot if active_speed_decel and self.speedCameraHapticEndFrame < 0: # 과속카메라 감속시작 self.speedCameraHapticEndFrame = self.frame + (8.0 / DT_CTRL) #8초간 켜줌. elif not active_speed_decel: self.speedCameraHapticEndFrame = -1 if 0 <= self.speedCameraHapticEndFrame - self.frame < int(8.0 / DT_CTRL) and self.hapticFeedbackWhenSpeedCamera > 0: t = (self.frame - (self.speedCameraHapticEndFrame - int(8.0 / DT_CTRL))) * DT_CTRL for start, end in vibrate_intervals: if start <= t < end: left_lane_warning = right_lane_warning = self.hapticFeedbackWhenSpeedCamera break if self.frame >= self.speedCameraHapticEndFrame: self.speedCameraHapticEndFrame = -1 if self.frame % self.blinking_frame == 0: self.blinking_signal = True elif self.frame % self.blinking_frame == self.blinking_frame / 2: self.blinking_signal = False can_sends = [] # *** common hyundai stuff *** # tester present - w/ no response (keeps relevant ECU disabled) if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC) and self.CP.openpilotLongitudinalControl: # for longitudinal control, either radar or ADAS driving ECU addr, bus = 0x7d0, self.CAN.ECAN if self.CP.flags & HyundaiFlags.CANFD else 0 if self.CP.flags & HyundaiFlags.CANFD_HDA2.value: addr, bus = 0x730, self.CAN.ECAN can_sends.append(make_tester_present_msg(addr, bus, suppress_response=True)) # for blinkers if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True)) camera_scc = self.CP.flags & HyundaiFlags.CAMERA_SCC # CAN-FD platforms if self.CP.flags & HyundaiFlags.CANFD: hda2 = self.CP.flags & HyundaiFlags.CANFD_HDA2 hda2_long = hda2 and self.CP.openpilotLongitudinalControl # steering control can_sends.extend(hyundaicanfd.create_steering_messages( self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, apply_angle, self.lkas_max_torque, angle_control, )) # prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU if self.frame % 5 == 0 and hda2 and not camera_scc: can_sends.extend(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS)) # LFA and HDA icons if self.frame % 5 == 0 and (not hda2 or hda2_long or camera_scc): can_sends.extend(hyundaicanfd.create_lfahda_cluster(self.packer, CS, self.CAN, CC.longActive, CC.latActive)) if not camera_scc: can_sends.extend(hyundaicanfd.create_lfa_icon_non_camera_scc(self.packer, CS, self.CAN, CC)) # blinkers if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS: can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker)) if self.camera_scc_params in [2, 3]: self.canfd_toggle_adas(CC, CS) if self.CP.openpilotLongitudinalControl: self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control) self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget) if True: #not camera_scc: can_sends.extend(hyundaicanfd.create_ccnc_messages(self.CP, self.packer, self.CAN, self.frame, CC, CS, hud_control, apply_angle, left_lane_warning, right_lane_warning, self.enable_corner_radar, stopping, self.canfd_debug)) if hda2: can_sends.extend(hyundaicanfd.create_adrv_messages(self.CP, self.packer, self.CAN, self.frame)) else: can_sends.extend(hyundaicanfd.create_fca_warning_light(self.CP, self.packer, self.CAN, self.frame)) if self.frame % 2 == 0: if self.CP.flags & HyundaiFlags.CAMERA_SCC.value: msg = hyundaicanfd.create_acc_control_scc2(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units, hud_control, self.hyundai_jerk, CS) if msg is not None: can_sends.append(msg) can_sends.extend(hyundaicanfd.create_tcs_messages(self.packer, self.CAN, CS)) # for sorento SCC radar... else: can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override, set_speed_in_units, hud_control, self.hyundai_jerk.jerk_u, self.hyundai_jerk.jerk_l, CS)) self.accel_last = accel else: # button presses if self.camera_scc_params == 3: # camera scc but stock long send_button = self.make_spam_button(CC, CS) can_sends.extend(hyundaicanfd.forward_button_message(self.packer, self.CAN, self.frame, CS, send_button, self.MainMode_ACC_trigger, self.LFA_trigger)) else: can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) else: if CS.lkas11 is not None: if self.lkas11_active: can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning, self.is_ldws_car)) self.lkas11_active = True if not self.CP.openpilotLongitudinalControl: can_sends.extend(self.create_button_messages(CC, CS, use_clu11=True)) if self.CP.carFingerprint in CAN_GEARS["send_mdps12"] and CS.mdps12 is not None: # send mdps12 to LKAS to prevent LKAS error can_sends.append(hyundaican.create_mdps12(self.packer, self.frame, CS.mdps12)) casper_ev = self.CP.carFingerprint == CAR.HYUNDAI_CASPER_EV if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl: self.hyundai_jerk.make_jerk(self.CP, CS, accel, actuators, hud_control) self.hyundai_jerk.check_carrot_cruise(CC, CS, hud_control, stopping, accel, actuators.aTarget) #jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0 use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value if camera_scc: can_sends.extend(hyundaican.create_acc_commands_scc(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2), hud_control, set_speed_in_units, stopping, CC.cruiseControl.override, casper_ev, CS, self.soft_hold_mode)) else: can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, self.hyundai_jerk, int(self.frame / 2), hud_control, set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, self.CP, CS, self.soft_hold_mode)) # 20 Hz LFA MFA message if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value: can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC, self.blinking_signal)) # 5 Hz ACC options if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl: if camera_scc: if CS.scc13 is not None: if casper_ev: #can_sends.append(hyundaican.create_acc_opt_copy(CS, self.packer)) pass pass else: can_sends.extend(hyundaican.create_acc_opt(self.packer, self.CP)) # 2 Hz front radar options if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl and not camera_scc: can_sends.append(hyundaican.create_frt_radar_opt(self.packer)) new_actuators = actuators.as_builder() new_actuators.torque = apply_torque / self.params.STEER_MAX # torqueOutputCan reflects the steering authority value actually sent over CAN. # Torque-control platforms send the signed torque command, while angle-control # platforms send LKAS_ANGLE_MAX_TORQUE alongside the requested angle. new_actuators.torqueOutputCan = self.lkas_max_torque if angle_control else apply_torque new_actuators.steeringAngleDeg = float(apply_angle) new_actuators.accel = accel self.frame += 1 return new_actuators, can_sends def create_button_messages(self, CC: structs.CarControl, CS: CarState, use_clu11: bool): can_sends = [] if CS.out.brakePressed or CS.out.brakeHoldActive: return can_sends if use_clu11: if CS.clu11 is None: return can_sends if CC.cruiseControl.cancel: can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP)) elif False: #CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25) if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: self.last_button_frame = self.frame if self.last_button_frame != self.frame: send_button = self.make_spam_button(CC, CS) if send_button > 0: can_sends.append(hyundaican.create_clu11_button(self.packer, self.frame, CS.clu11, send_button, self.CP)) else: # carrot.. 왜 alt_cruise_button는 값이 리스트일까?, 그리고 왜? 빈데이터가 들어오는것일까? if CS.cruise_buttons_msg is not None and self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: try: cruise_buttons_msg_values = {key: value[0] for key, value in CS.cruise_buttons_msg.items()} except: # IndexError: #print("IndexError....") cruise_buttons_msg_values = None self.cruise_buttons_msg_cnt += 1 if cruise_buttons_msg_values is not None: self.cruise_buttons_msg_values = cruise_buttons_msg_values self.cruise_buttons_msg_cnt = 0 if (self.frame - self.last_button_frame) * DT_CTRL > 0.25: # cruise cancel if CC.cruiseControl.cancel: if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: print("cruiseControl.cancel222222") if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: #can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.scc_control)) if self.cruise_buttons_msg_values is not None: can_sends.append(hyundaicanfd.alt_cruise_buttons(self.packer, self.CP, self.CAN, Buttons.CANCEL, self.cruise_buttons_msg_values, self.cruise_buttons_msg_cnt)) else: for _ in range(20): can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL)) self.last_button_frame = self.frame # cruise standstill resume elif False: #CC.cruiseControl.resume: if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS: # TODO: resume for alt button cars pass else: for _ in range(20): can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL)) self.last_button_frame = self.frame ## button 스패밍을 안했을때... if self.last_button_frame != self.frame: dat = self.canfd_speed_control_pcm(CC, CS, self.cruise_buttons_msg_values) if dat is not None: for _ in range(self.button_spam3): can_sends.append(dat) self.cruise_buttons_msg_cnt += 1 return can_sends def canfd_toggle_adas(self, CC, CS): trigger_min = -200 trigger_start = 6 self.MainMode_ACC_trigger = max(trigger_min, self.MainMode_ACC_trigger - 1) self.LFA_trigger = max(trigger_min, self.LFA_trigger - 1) if self.MainMode_ACC_trigger == trigger_min and self.LFA_trigger == trigger_min: if CC.enabled and not CS.MainMode_ACC and CS.out.vEgo > 3.: self.MainMode_ACC_trigger = trigger_start elif CC.latActive and CS.LFA_ICON == 0: self.LFA_trigger = trigger_start def canfd_speed_control_pcm(self, CC, CS, cruise_buttons_msg_values): alt_buttons = True if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else False if alt_buttons and cruise_buttons_msg_values is None: return None send_button = self.make_spam_button(CC, CS) if send_button > 0: if alt_buttons: return hyundaicanfd.alt_cruise_buttons(self.packer, self.CP, self.CAN, send_button, cruise_buttons_msg_values, self.cruise_buttons_msg_cnt) else: return hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, send_button) return None def make_spam_button(self, CC, CS): hud_control = CC.hudControl set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) target = int(set_speed_in_units+0.5) current = int(CS.out.cruiseState.speed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH) + 0.5) v_ego_kph = CS.out.vEgo * CV.MS_TO_KPH send_button = 0 activate_cruise = False if CC.enabled: if not CS.out.cruiseState.enabled: if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0: send_button = Buttons.RES_ACCEL self.activateCruise = 1 activate_cruise = True elif CC.cruiseControl.resume: send_button = Buttons.RES_ACCEL elif target < current and current>= 31 and self.speed_from_pcm != 1: send_button = Buttons.SET_DECEL elif target > current and current < 160 and self.speed_from_pcm != 1: send_button = Buttons.RES_ACCEL elif CS.out.activateCruise: #CC.cruiseControl.activate: if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0: self.activateCruise = 1 send_button = Buttons.RES_ACCEL activate_cruise = True if CS.out.brakePressed or CS.out.gasPressed: self.activateCruise = 0 if send_button == 0: self.button_spamming_count = 0 self.prev_clu_speed = current return 0 speed_diff = self.prev_clu_speed - current spamming_max = self.button_spam1 if CS.cruise_buttons[-1] != Buttons.NONE: self.last_button_frame = self.frame self.button_wait = self.button_spam2 self.button_spamming_count = 0 elif abs(self.button_spamming_count) >= spamming_max or abs(speed_diff) > 0: self.last_button_frame = self.frame self.button_wait = self.button_spam2 if abs(self.button_spamming_count) >= spamming_max else 7 self.button_spamming_count = 0 self.prev_clu_speed = current send_button_allowed = (self.frame - self.last_button_frame) > self.button_wait #CC.debugTextCC = "{} speed_diff={:.1f},{:.0f}/{:.0f}, button={}, button_wait={}, count={}".format( # send_button_allowed, speed_diff, target, current, send_button, self.button_wait, self.button_spamming_count) if send_button_allowed or activate_cruise or (CC.cruiseControl.resume and self.frame % 2 == 0): self.button_spamming_count = self.button_spamming_count + 1 if send_button == Buttons.RES_ACCEL else self.button_spamming_count - 1 return send_button else: self.button_spamming_count = 0 return 0 from iqpilot.common.filter_simple import MyMovingAverage class HyundaiJerk: def __init__(self): self.params = Params() self.jerk = 0.0 self.jerk_u = self.jerk_l = 0.0 self.cb_upper = self.cb_lower = 0.0 self.jerk_u_min = 0.5 self.carrot_cruise = 1 self.carrot_cruise_accel = 0.0 def check_carrot_cruise(self, CC, CS, hud_control, stopping, accel, a_target): carrot_cruise_decel = self.params.get_float("CarrotCruiseDecel") carrot_cruise_atc_decel = self.params.get_float("CarrotCruiseAtcDecel") if carrot_cruise_atc_decel >= 0 and 0 < hud_control.atcDistance < 500: carrot_cruise_decel = max(carrot_cruise_decel, carrot_cruise_atc_decel) self.carrot_cruise = 0 if CS.out.carrotCruise > 0 and not CC.cruiseControl.override: if CS.softHoldActive == 0 and not stopping: if CS.out.vEgo > 10/3.6: if carrot_cruise_decel < 0: if (a_target > -0.1 or accel > -0.1): self.carrot_cruise = 1 self.carrot_cruise_accel = 0.0 else: self.carrot_cruise = 2 carrot_cruise = min(accel, -carrot_cruise_decel * 0.01) self.carrot_cruise_accel = max(carrot_cruise, self.carrot_cruise_accel - 1.0 * DT_CTRL) # 점진적으로 줄임. if self.carrot_cruise == 0: self.carrot_cruise_accel = CS.out.aEgo def make_jerk(self, CP, CS, accel, actuators, hud_control): if actuators.longControlState == LongCtrlState.stopping: self.jerk = self.jerk_u_min / 2 - CS.out.aEgo else: jerk = actuators.jerk if actuators.longControlState == LongCtrlState.pid else 0.0 #a_error = actuators.aTarget - CS.out.aEgo self.jerk = jerk# + a_error jerk_max_l = 5.0 jerk_max_u = jerk_max_l if actuators.longControlState == LongCtrlState.off: self.jerk_u = jerk_max_u self.jerk_l = jerk_max_l self.cb_upper = self.cb_lower = 0.0 else: if CP.flags & HyundaiFlags.CANFD: # Keep deceleration authority after the MPC jerk settles to zero. Stock SCC raises the # lower jerk limit with the raw acceleration request instead of relying on jerk alone. jerk_l_base = 1.2 jerk_l_raw = np.clip(jerk_l_base + 2.0 * max(0.0, -accel - 2.8), jerk_l_base, jerk_max_l) jerk_l_mpc = np.clip(-self.jerk * 4.0, jerk_l_base, jerk_max_l) self.jerk_u = min(max(self.jerk_u_min, self.jerk * 2.0), jerk_max_u) self.jerk_l = max(jerk_l_raw, jerk_l_mpc) self.cb_upper = self.cb_lower = 0.0 else: self.jerk_u = min(max(self.jerk_u_min, self.jerk * 2.0), jerk_max_u) self.jerk_l = min(max(1.0, -self.jerk * 4.0), jerk_max_l) self.cb_upper = np.clip(0.9 + accel * 0.2, 0, 1.2) self.cb_lower = np.clip(0.8 + accel * 0.2, 0, 1.2)