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firestar5683
2026-08-05 14:23:59 -05:00
parent d50e0ebd4f
commit 474c4ff01e
4 changed files with 58 additions and 85 deletions
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selfdrive/controls/lib/latcontrol_vehicle_tunes.py
+1 -1
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@@ -883,7 +883,7 @@ KONA_NON_SCC_TRANSITION_JERK_ONSET = 0.35
KONA_NON_SCC_TRANSITION_JERK_FULL = 1.20
KONA_NON_SCC_TRANSITION_LAT_FADE_START = 0.45
KONA_NON_SCC_TRANSITION_LAT_FADE_END = 1.60
KONA_NON_SCC_CENTER_TAPER_MAX = 0.14
KONA_NON_SCC_CENTER_TAPER_MAX = 0.20
KONA_NON_SCC_CENTER_TAPER_LAT = 0.28
KONA_NON_SCC_CENTER_TAPER_SPEED_ONSET = 12.0
KONA_NON_SCC_CENTER_TAPER_SPEED_FULL = 24.0
selfdrive/controls/tests/test_latcontrol.py
+1 -1
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@@ -838,7 +838,7 @@ class TestLatControl:
def test_kona_non_scc_center_taper_curve(self):
assert get_kona_non_scc_center_taper_scale(0.0, 10.0) == pytest.approx(1.0)
assert get_kona_non_scc_center_taper_scale(0.0, 25.0) == pytest.approx(0.86)
assert get_kona_non_scc_center_taper_scale(0.0, 25.0) == pytest.approx(0.80)
assert get_kona_non_scc_center_taper_scale(0.28, 25.0) == pytest.approx(1.0)
assert get_kona_non_scc_center_taper_scale(0.10, 25.0) < get_kona_non_scc_center_taper_scale(0.10, 15.0)
starpilot/controls/starpilot_card.py
+7 -38
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@@ -18,8 +18,6 @@ from openpilot.starpilot.common.favorite_slots import toggle_favorite_slot
from openpilot.starpilot.common.starpilot_utilities import is_FrogsGoMoo
from openpilot.starpilot.common.starpilot_variables import ERROR_LOGS_PATH, GearShifter, NON_DRIVING_GEARS
HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES = 100
class StarPilotCard:
@staticmethod
@@ -46,9 +44,6 @@ class StarPilotCard:
self.CP.brand == "hyundai" and not (hyundai_flags & HyundaiFlags.CANFD) and not hyundai_aol_before_engagement
)
self.hyundai_aol_ready = False
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
self.prev_cruise_available = None
self.prev_active = False
self.prev_cruise_enabled = False
self.decel_pressed = False
@@ -125,13 +120,9 @@ class StarPilotCard:
button_event_types = [self._button_type_raw(be) for be in carState.buttonEvents]
button_aol_supported = self.CP.brand == "hyundai" or starpilot_toggles.lkas_allowed_for_aol
button_managed_aol = starpilot_toggles.always_on_lateral_lkas or (button_aol_supported and starpilot_toggles.main_cruise_aol_toggle)
hyundai_main_cruise_aol_managed = self.CP.brand == "hyundai" and starpilot_toggles.main_cruise_aol_toggle
hyundai_aol_needs_engagement = self.hyundai_aol_needs_engagement and not starpilot_toggles.lkas_allowed_for_aol
if carState.gearShifter in NON_DRIVING_GEARS or not hyundai_main_cruise_aol_managed:
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
if self.hyundai_aol_needs_engagement:
if hyundai_aol_needs_engagement:
if carState.gearShifter in NON_DRIVING_GEARS:
preserve_reverse_latch = self.hyundai_preserve_aol_across_reverse and carState.gearShifter == GearShifter.reverse
if not preserve_reverse_latch:
@@ -143,38 +134,19 @@ class StarPilotCard:
if button_aol_supported:
for be, be_type in zip(carState.buttonEvents, button_event_types, strict=False):
if be_type == ButtonType.lkas and be.pressed and starpilot_toggles.always_on_lateral_lkas:
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
if self.hyundai_aol_needs_engagement:
if hyundai_aol_needs_engagement:
self.hyundai_aol_ready = True
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
if carState.cruiseState.enabled or self.pause_lateral:
self.pause_lateral = not self.always_on_lateral_allowed
elif be_type == ButtonType.mainCruise and be.pressed:
if starpilot_toggles.main_cruise_aol_toggle:
if self.hyundai_aol_needs_engagement:
if hyundai_aol_needs_engagement:
self.hyundai_aol_ready = True
if hyundai_main_cruise_aol_managed:
# Panda permits Hyundai main-button AOL only after the vehicle reports main on.
self.main_cruise_aol_pending = True
self.main_cruise_aol_pending_frames = 0
else:
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
self.always_on_lateral_allowed = not self.always_on_lateral_allowed
elif starpilot_toggles.main_cruise_slc_adopt and starpilot_toggles.speed_limit_controller:
self.params_memory.put_bool("SLCAdoptSpeedLimit", True)
cruise_available_changed = self.prev_cruise_available is not None and carState.cruiseState.available != self.prev_cruise_available
if self.main_cruise_aol_pending:
if cruise_available_changed:
self.always_on_lateral_allowed = carState.cruiseState.available
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
else:
self.main_cruise_aol_pending_frames += 1
if self.main_cruise_aol_pending_frames >= HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES:
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
if starpilot_toggles.always_on_lateral_main and not button_managed_aol:
car_fingerprint = getattr(self.CP, "carFingerprint", None)
pcm_cruise = getattr(self.CP, "pcmCruise", False)
@@ -191,19 +163,16 @@ class StarPilotCard:
# On rising edge of engagement (SET press enabling lat+long), auto-enable AOL
# so that lateral persists when braking disengages longitudinal
if sm["selfdriveState"].active and not self.prev_active and self.always_on_lateral_set and starpilot_toggles.always_on_lateral_lkas:
self.main_cruise_aol_pending = False
self.main_cruise_aol_pending_frames = 0
if self.hyundai_aol_needs_engagement:
if hyundai_aol_needs_engagement:
self.hyundai_aol_ready = True
self.always_on_lateral_allowed = True
self.prev_active = sm["selfdriveState"].active
self.prev_cruise_available = carState.cruiseState.available
self.prev_cruise_enabled = carState.cruiseState.enabled
self.always_on_lateral_enabled = self.always_on_lateral_allowed and self.always_on_lateral_set
self.always_on_lateral_enabled &= carState.gearShifter not in NON_DRIVING_GEARS
self.always_on_lateral_enabled &= not self.hyundai_aol_needs_engagement or self.hyundai_aol_ready
self.always_on_lateral_enabled &= not hyundai_aol_needs_engagement or self.hyundai_aol_ready
self.always_on_lateral_enabled &= sm["starpilotPlan"].lateralCheck
self.always_on_lateral_enabled &= sm["liveCalibration"].calPerc >= 1
alert_types = sm["selfdriveState"].alertType + sm["starpilotSelfdriveState"].alertType
starpilot/controls/tests/test_starpilot_card.py
+49 -45
View File
@@ -1,5 +1,7 @@
from types import SimpleNamespace
import pytest
from opendbc.car.chrysler.values import CAR as CHRYSLER_CAR
from openpilot.common.params import ParamKeyType
@@ -317,7 +319,7 @@ def test_hyundai_canfd_lkas_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_
assert ret.alwaysOnLateralEnabled is False
def test_kia_forte_non_scc_main_cruise_button_waits_for_main_confirmation(monkeypatch, tmp_path):
def test_kia_forte_non_scc_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -336,19 +338,18 @@ def test_kia_forte_non_scc_main_cruise_button_waits_for_main_confirmation(monkey
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(make_car_state(), starpilot_car_state, sm, toggles)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = []
car_state.cruiseState.available = True
car_state.cruiseState.available = False
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
def test_genesis_g90_main_cruise_button_waits_for_main_confirmation(monkeypatch, tmp_path):
def test_genesis_g90_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -363,19 +364,45 @@ def test_genesis_g90_main_cruise_button_waits_for_main_confirmation(monkeypatch,
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(make_car_state(), starpilot_car_state, sm, toggles)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = []
car_state.cruiseState.available = True
car_state.cruiseState.available = False
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
def test_hyundai_main_cruise_button_follows_confirmed_main_state(monkeypatch, tmp_path):
@pytest.mark.parametrize("fingerprint", [spc.HYUNDAI_CAR.GENESIS_G70_2020, spc.HYUNDAI_CAR.HYUNDAI_PALISADE])
def test_legacy_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path, fingerprint):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
card = spc.StarPilotCard(
SimpleNamespace(brand="hyundai", carFingerprint=fingerprint),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
starpilot_car_state = SimpleNamespace(distancePressed=False)
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(make_car_state(), starpilot_car_state, sm, toggles)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
def test_hyundai_main_cruise_button_toggles_aol_immediately(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -390,25 +417,14 @@ def test_hyundai_main_cruise_button_follows_confirmed_main_state(monkeypatch, tm
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(make_car_state(), starpilot_car_state, sm, toggles)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
car_state.buttonEvents = []
car_state.cruiseState.available = True
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = [SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
car_state.buttonEvents = []
car_state.cruiseState.available = False
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp_path):
@@ -427,17 +443,6 @@ def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
card.update(car_state, starpilot_car_state, sm, toggles)
car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
car_state.buttonEvents = []
car_state.cruiseState.available = True
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
@@ -446,11 +451,16 @@ def test_hyundai_main_cruise_button_wrapped_enum_can_toggle_aol(monkeypatch, tmp
car_state.buttonEvents = []
car_state.cruiseState.available = False
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
car_state.buttonEvents = [make_wrapped_button_event(spc.ButtonType.mainCruise, True)]
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
def test_hyundai_main_cruise_aol_ignores_unconfirmed_button_press(monkeypatch, tmp_path):
def test_hyundai_lda_platform_main_aol_can_start_before_set(monkeypatch, tmp_path):
monkeypatch.setattr(spc, "Params", FakeParams)
monkeypatch.setattr(spc, "is_FrogsGoMoo", lambda: False)
monkeypatch.setattr(spc, "ERROR_LOGS_PATH", tmp_path)
@@ -459,19 +469,14 @@ def test_hyundai_main_cruise_aol_ignores_unconfirmed_button_press(monkeypatch, t
SimpleNamespace(brand="hyundai"),
SimpleNamespace(alternativeExperience=spc.ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL),
)
car_state = make_car_state(button_events=[SimpleNamespace(type=spc.ButtonType.mainCruise, pressed=True)])
car_state = make_car_state(available=True)
starpilot_car_state = SimpleNamespace(distancePressed=False)
sm = make_sm()
toggles = make_toggles(always_on_lateral=True, main_cruise_aol_toggle=True)
toggles = make_toggles(always_on_lateral=True, always_on_lateral_main=True, lkas_allowed_for_aol=True)
ret = card.update(car_state, starpilot_car_state, sm, toggles)
car_state.buttonEvents = []
for _ in range(spc.HYUNDAI_MAIN_CRUISE_AOL_CONFIRM_TIMEOUT_FRAMES):
ret = card.update(car_state, starpilot_car_state, sm, toggles)
assert ret.alwaysOnLateralAllowed is False
assert ret.alwaysOnLateralEnabled is False
assert card.main_cruise_aol_pending is False
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(monkeypatch, tmp_path):
@@ -490,7 +495,6 @@ def test_honda_mapped_main_cruise_button_keeps_immediate_toggle(monkeypatch, tmp
assert ret.alwaysOnLateralAllowed is True
assert ret.alwaysOnLateralEnabled is True
assert card.main_cruise_aol_pending is False
def test_hyundai_main_cruise_button_adopts_slc_when_assigned_to_slc(monkeypatch, tmp_path):