100 lines
3.4 KiB
Python
100 lines
3.4 KiB
Python
from enum import StrEnum
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from collections import namedtuple
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from iqdbc.car import Bus, DT_CTRL, structs
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from iqdbc.car.hyundai.values import CAR
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from iqdbc.car.hyundai.values import HyundaiFlags
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from iqdbc.iqpilot.car.hyundai.values import HyundaiFlagsIQ
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from iqdbc.iqpilot.aol_base import AolCarStateBase
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from iqdbc.can.parser import CANParser
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ButtonType = structs.CarState.ButtonEvent.Type
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AolDataIQ = namedtuple("AolDataIQ",
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["enable_aol", "lat_active", "disengaging", "paused"])
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class AolCarController:
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def __init__(self):
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self.aol = AolDataIQ(False, False, False, False)
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self.lat_disengage_blink = 0
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self.lat_disengage_init = False
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self.prev_lat_active = False
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self.lkas_icon = 0
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self.lfa_icon = 0
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def aol_status_update(self, CC: structs.CarControl, CC_IQ: structs.IQCarControl, frame: int) -> AolDataIQ:
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enable_aol = CC_IQ.aol.available
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if CC.latActive:
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self.lat_disengage_init = False
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elif self.prev_lat_active:
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self.lat_disengage_init = True
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if not self.lat_disengage_init:
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self.lat_disengage_blink = frame
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paused = CC_IQ.aol.enabled and not CC.latActive
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disengaging = (frame - self.lat_disengage_blink) * DT_CTRL < 1.0 if self.lat_disengage_init else False
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self.prev_lat_active = CC.latActive
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return AolDataIQ(enable_aol, CC.latActive, disengaging, paused)
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def create_lkas_icon(self, CP: structs.CarParams, enabled: bool) -> int:
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if self.aol.enable_aol:
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lkas_icon = 2 if self.aol.lat_active else 3 if self.aol.disengaging else 1
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else:
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lkas_icon = 2 if enabled else 1
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if CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.HYUNDAI_KONA_NON_SCC):
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lkas_icon = 3 if (self.aol.lat_active if self.aol.enable_aol else enabled) else 1
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return lkas_icon
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def create_lfa_icon(self, enabled: bool) -> int:
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if self.aol.enable_aol:
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lfa_icon = 2 if self.aol.lat_active else 3 if self.aol.disengaging else 1 if self.aol.paused else 0
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else:
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lfa_icon = 2 if enabled else 0
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return lfa_icon
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def update(self, CP: structs.CarParams, CC: structs.CarControl, CC_IQ: structs.IQCarControl, frame: int) -> None:
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self.aol = self.aol_status_update(CC, CC_IQ, frame)
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self.lkas_icon = self.create_lkas_icon(CP, CC.enabled)
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self.lfa_icon = self.create_lfa_icon(CC.enabled)
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class AolCarState(AolCarStateBase):
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def __init__(self, CP: structs.CarParams, CP_IQ: structs.CarParams):
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super().__init__(CP, CP_IQ)
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self.main_cruise_enabled: bool = False
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@staticmethod
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def get_parser(CP, CP_IQ, pt_messages) -> None:
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pass
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def get_main_cruise(self, ret: structs.CarState) -> bool:
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if self.CP_IQ.flags & HyundaiFlagsIQ.MAIN_BTN_LONG_TOGGLE:
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if any(be.type == ButtonType.mainCruise and be.pressed for be in ret.buttonEvents):
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self.main_cruise_enabled = not self.main_cruise_enabled
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else:
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self.main_cruise_enabled = True
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return self.main_cruise_enabled if ret.cruiseState.available else False
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def update_aol(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
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pass
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def update_aol_canfd(self, ret: structs.CarState, can_parsers: dict[StrEnum, CANParser]) -> None:
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cp = can_parsers[Bus.pt]
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cp_cam = can_parsers[Bus.cam]
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if not self.CP.openpilotLongitudinalControl:
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cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
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ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
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