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hyundai: fix logging stock AEB events (#25152)

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old-commit-hash: 2e7fa330b346b6435d0b15524f3b5ce878d213de
This commit is contained in:
Greg Hogan
2022-10-08 04:07:35 -07:00
committed by GitHub
parent 46e01104ad
commit 08234a9ea9
1 changed files with 10 additions and 6 deletions
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selfdrive/car/hyundai/carstate.py
+10 -6
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@@ -126,12 +126,12 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in FEATURES["use_fca"]:
ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
else:
ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
ret.stockFcw = aeb_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
@@ -294,12 +294,14 @@ class CarState(CarStateBase):
signals += [
("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11"),
("CF_VSM_DecCmdAct", "FCA11"),
]
checks.append(("FCA11", 50))
else:
signals += [
("AEB_CmdAct", "SCC12"),
("CF_VSM_Warn", "SCC12"),
("CF_VSM_DecCmdAct", "SCC12"),
]
if CP.enableBsm:
@@ -383,12 +385,14 @@ class CarState(CarStateBase):
signals += [
("FCA_CmdAct", "FCA11"),
("CF_VSM_Warn", "FCA11"),
("CF_VSM_DecCmdAct", "FCA11"),
]
checks.append(("FCA11", 50))
else:
signals += [
("AEB_CmdAct", "SCC12"),
("CF_VSM_Warn", "SCC12"),
("CF_VSM_DecCmdAct", "SCC12"),
]
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)