mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-23 09:13:43 +08:00
Code Issues Packages Projects Releases Wiki Activity

buttan

Browse Source
This commit is contained in:
firestar5683
2026-06-08 22:38:57 -05:00
parent 77c82edb44
commit a11d064aeb
2 changed files with 42 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
opendbc_repo/opendbc/car/hyundai/carstate.py
+13 -7
View File
@@ -76,6 +76,7 @@ class CarState(CarStateBase):
self.main_buttons: deque = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
self.lda_button = 0
self.lda_button_raw = 0
self.lda_button_raw_initialized = False
self.lda_button_last_raw_rise_ts_nanos = 0
self.left_paddle = 0
self.mode_button = 0
@@ -174,15 +175,20 @@ class CarState(CarStateBase):
return False
def create_alt_bus_lda_button_events(self, cp_source: CANParser) -> list[structs.CarState.ButtonEvent]:
def get_alt_bus_lda_button_raw_state(self, cp_source: CANParser) -> tuple[int, int]:
if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_SWL_STAT_CARS:
raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4)
raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"]
else:
raw_lda_button = int(cp_source.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
raw_lda_button_ts_nanos = cp_source.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
return int(cp_source.vl["CLU13"]["CF_Clu_SWL_Stat"] == 4), cp_source.ts_nanos["CLU13"]["CF_Clu_SWL_Stat"]
return int(cp_source.vl["CLU13"]["CF_Clu_LdwsLkasSW"]), cp_source.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"]
def create_alt_bus_lda_button_events(self, cp_source: CANParser) -> list[structs.CarState.ButtonEvent]:
raw_lda_button, raw_lda_button_ts_nanos = self.get_alt_bus_lda_button_raw_state(cp_source)
button_events: list[structs.CarState.ButtonEvent] = []
if not self.lda_button_raw_initialized:
self.lda_button_raw_initialized = True
self.lda_button_raw = raw_lda_button
return button_events
# Some alt-bus LKAS button layouts pulse several times per physical press burst.
# Collapse each burst into a single synthetic press/release pair.
if raw_lda_button and not self.lda_button_raw:
@@ -348,7 +354,7 @@ class CarState(CarStateBase):
lkas_button_events = []
self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and cp_alt.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and self.get_alt_bus_lda_button_raw_state(cp_alt)[1] > 0:
lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
else:
lkas_button_events = self.create_lkas_button_events(cp, prev_lda_button)
opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py
+29
View File
@@ -719,6 +719,35 @@ class TestHyundaiFingerprint:
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
def test_sonata_hybrid_alt_bus_initial_high_does_not_emit_lkas_button_event(self):
toggles = get_test_toggles()
fingerprint = gen_empty_fingerprint()
fingerprint[0][0x391] = 8
fingerprint[1][0x50C] = 8
CP = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], False, False, False, toggles)
FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA_HYBRID, fingerprint, [], CP, toggles)
car_state = CarState(CP, FPCP)
can_parsers = car_state.get_can_parsers(CP)
packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
def update(lkas_button: int, frame: int):
msg = packer.make_can_msg("CLU13", 1, {
"CF_Clu_SWL_Stat": lkas_button,
})
can_parsers[Bus.alt].update([(frame, [msg])])
return car_state.update(can_parsers, toggles)[0]
ret = update(4, 1)
assert not any(be.type == ButtonType.lkas for be in ret.buttonEvents)
ret = update(0, 2)
assert not any(be.type == ButtonType.lkas for be in ret.buttonEvents)
ret = update(4, 3)
assert any(be.type == ButtonType.lkas and be.pressed for be in ret.buttonEvents)
assert any(be.type == ButtonType.lkas and not be.pressed for be in ret.buttonEvents)
def test_genesis_g90_does_not_use_alt_bus_lkas_parser(self):
toggles = get_test_toggles()
CP = CarInterface.get_params(CAR.GENESIS_G90, gen_empty_fingerprint(), [], False, False, False, toggles)