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hyundai: car state with longitudinal control support (#19851)

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old-commit-hash: 32b89fe30abf4c7252596f03ea2f84338c5c8131
This commit is contained in:
Greg Hogan
2021-01-27 07:25:23 -08:00
committed by GitHub
parent 1960f405c2
commit 2864de8c5e
1 changed files with 25 additions and 7 deletions
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selfdrive/car/hyundai/carstate.py
+25 -7
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@@ -37,9 +37,14 @@ class CarState(CarStateBase):
ret.steerWarning = cp.vl["MDPS12"]['CF_Mdps_ToiUnavail'] != 0
# cruise state
ret.cruiseState.available = True
ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
if self.CP.openpilotLongitudinalControl:
ret.cruiseState.available = cp.vl["TCS13"]['ACCEnable'] == 0
ret.cruiseState.enabled = cp.vl["TCS13"]['ACC_REQ'] == 1
ret.cruiseState.standstill = cp.vl["TCS13"]['StandStill'] == 1
else:
ret.cruiseState.available = cp.vl["SCC11"]['MainMode_ACC'] == 1
ret.cruiseState.enabled = cp.vl["SCC12"]['ACCMode'] != 0
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
if ret.cruiseState.enabled:
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
@@ -127,9 +132,13 @@ class CarState(CarStateBase):
# save the entire LKAS11 and CLU11
self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
self.clu11 = copy.copy(cp.vl["CLU11"])
self.park_brake = cp.vl["CGW1"]['CF_Gway_ParkBrakeSw']
self.park_brake = cp.vl["TCS13"]['PBRAKE_ACT'] == 1
self.steer_state = cp.vl["MDPS12"]['CF_Mdps_ToiActive'] # 0 NOT ACTIVE, 1 ACTIVE
self.lead_distance = cp.vl["SCC11"]['ACC_ObjDist']
self.brake_hold = cp.vl["TCS15"]['AVH_LAMP'] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
self.brake_error = cp.vl["TCS13"]['ACCEnable'] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
self.prev_cruise_buttons = self.cruise_buttons
self.cruise_buttons = cp.vl["CLU11"]["CF_Clu_CruiseSwState"]
return ret
@@ -171,10 +180,14 @@ class CarState(CarStateBase):
("CF_Clu_AliveCnt1", "CLU11", 0),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("BrakeLight", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("StandStill", "TCS13", 0),
("PBRAKE_ACT", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("AVH_LAMP", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11", 0), # Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
@@ -205,10 +218,14 @@ class CarState(CarStateBase):
("CGW4", 5),
("WHL_SPD11", 50),
("SAS11", 100),
("SCC11", 50),
("SCC12", 50),
]
if not CP.openpilotLongitudinalControl:
checks += [
("SCC11", 50),
("SCC12", 50),
]
if CP.carFingerprint in FEATURES["use_bsm"]:
signals += [
("CF_Lca_IndLeft", "LCA11", 0),
@@ -266,7 +283,8 @@ class CarState(CarStateBase):
("FCA_CmdAct", "FCA11", 0),
("CF_VSM_Warn", "FCA11", 0),
]
checks += [("FCA11", 50)]
if not CP.openpilotLongitudinalControl:
checks += [("FCA11", 50)]
else:
signals += [
("AEB_CmdAct", "SCC12", 0),