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Hyundai CAN-FD: carState cleanup (#29326)

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* Hyundai CAN-FD: carstate cleanup

* Looks nicer

* Rearrange

* Fix

* Update selfdrive/car/hyundai/carstate.py

---------

Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>
old-commit-hash: 3a00149f564d72ee68d8d565d0ae967f8c6b5847
This commit is contained in:
Jason Wen
2023-08-13 14:28:09 -04:00
committed by GitHub
parent 9b98b3d6ea
commit 53addf20b5
1 changed files with 19 additions and 36 deletions
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selfdrive/car/hyundai/carstate.py
+19 -36
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@@ -22,8 +22,8 @@ class CarState(CarStateBase):
self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.gear_msg_canfd = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_SHIFTER"
if CP.carFingerprint in CANFD_CAR:
self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
@@ -34,6 +34,11 @@ class CarState(CarStateBase):
else: # preferred and elect gear methods use same definition
self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \
"ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \
"ACCELERATOR_BRAKE_ALT"
self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
"CRUISE_BUTTONS"
self.is_metric = False
self.buttons_counter = 0
@@ -163,13 +168,11 @@ class CarState(CarStateBase):
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
if self.CP.carFingerprint in EV_CAR:
ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
else:
ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
offset = 255. if self.CP.carFingerprint in EV_CAR else 1023.
ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
ret.gasPressed = ret.gas > 1e-5
else:
ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"])
ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
@@ -217,11 +220,10 @@ class CarState(CarStateBase):
ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
self.prev_cruise_buttons = self.cruise_buttons[-1]
self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0 # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
if self.CP.flags & HyundaiFlags.CANFD_HDA2:
@@ -229,10 +231,9 @@ class CarState(CarStateBase):
return ret
@staticmethod
def get_can_parser(CP):
def get_can_parser(self, CP):
if CP.carFingerprint in CANFD_CAR:
return CarState.get_can_parser_canfd(CP)
return self.get_can_parser_canfd(CP)
messages = [
# address, frequency
@@ -299,14 +300,12 @@ class CarState(CarStateBase):
return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
@staticmethod
def get_can_parser_canfd(CP):
gear_msg = "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
"GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
"GEAR_SHIFTER"
def get_can_parser_canfd(self, CP):
messages = [
(self.gear_msg_canfd, 100),
(self.cruise_btns_msg_canfd, 50),
(self.accelerator_msg_canfd, 100),
("WHEEL_SPEEDS", 100),
(gear_msg, 100),
("STEERING_SENSORS", 100),
("MDPS", 100),
("TCS", 50),
@@ -315,9 +314,6 @@ class CarState(CarStateBase):
("DOORS_SEATBELTS", 4),
]
if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
messages.append(("CRUISE_BUTTONS", 50))
if CP.enableBsm:
messages += [
("BLINDSPOTS_REAR_CORNERS", 20),
@@ -328,19 +324,6 @@ class CarState(CarStateBase):
("SCC_CONTROL", 50),
]
if CP.carFingerprint in EV_CAR:
messages += [
("ACCELERATOR", 100),
]
elif CP.carFingerprint in HYBRID_CAR:
messages += [
("ACCELERATOR_ALT", 100),
]
else:
messages += [
("ACCELERATOR_BRAKE_ALT", 100),
]
return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
@staticmethod