52 lines
1.4 KiB
Python
52 lines
1.4 KiB
Python
from opendbc.car import structs
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from opendbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
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ESCC_MSG = 0x2AB
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class EnhancedSmartCruiseControl:
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def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
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self.CP = CP
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self.CP_IQ = CP_IQ
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@property
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def enabled(self):
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return self.CP_IQ.flags & HyundaiFlagsIQ.ENHANCED_SCC
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@property
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def trigger_msg(self):
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return ESCC_MSG
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def update_car_state(self, car_state):
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self.car_state = car_state
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def update_scc12(self, values):
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values["AEB_CmdAct"] = self.car_state.escc_cmd_act
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values["CF_VSM_Warn"] = self.car_state.escc_aeb_warning
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values["CF_VSM_DecCmdAct"] = self.car_state.escc_aeb_dec_cmd_act
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values["CR_VSM_DecCmd"] = self.car_state.escc_aeb_dec_cmd
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values["AEB_Status"] = 2 # AEB enabled
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class EsccCarStateBase:
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def __init__(self):
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self.escc_aeb_warning = 0
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self.escc_aeb_dec_cmd_act = 0
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self.escc_cmd_act = 0
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self.escc_aeb_dec_cmd = 0
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class EsccCarController:
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def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
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self.ESCC = EnhancedSmartCruiseControl(CP, CP_IQ)
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def update(self, car_state):
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self.ESCC.update_car_state(car_state)
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class EsccRadarInterfaceBase:
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def __init__(self, CP: structs.CarParams, CP_IQ: structs.IQCarParams):
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self.ESCC = EnhancedSmartCruiseControl(CP, CP_IQ)
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self.use_escc = False
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