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firestar5683
e4f3d6661c
Implement acceleration profiles, FollowJerk, force-stop and lead-departure owners. Keep selected acceleration limits and hazard arbitration explicit at their shared boundaries. Co-authored-by: whoisdomi <dcantu83@gmail.com>
22 lines
1.2 KiB
Python
22 lines
1.2 KiB
Python
"""Optional current-drive CANFD radar/camera lead inputs in one clock domain."""
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from opendbc.car.hyundai.canfd_lead import ABSENT, CANFDLeadObservation, select_lead
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from openpilot.starpilot.longitudinal.radar_lead_context import RadarLeadContext
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class CANFDLeadInputs:
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def __init__(self):
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self.context = RadarLeadContext(require_radar=False)
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def update(self, camera, hud_visible, control_mono_ns):
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context = self.context.update()
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if context is None or type(control_mono_ns) is not int or not 0 <= context.mono_now_ns-control_mono_ns <= 150_000_000:
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return ABSENT
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radar = context.radar
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radar_observation = None if radar is None else CANFDLeadObservation(
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radar.present, radar.distance, radar.relative_speed, radar.producer_ns+context.offset_ns)
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camera_value = camera.current(context.boot_now_ns, context.boot_floor_ns) if camera is not None else None
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camera_observation = None if camera_value is None else CANFDLeadObservation(
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camera_value.visible, camera_value.distance_m, camera_value.relative_speed_mps, camera_value.producer_boot_ns)
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return select_lead(radar_observation, camera_observation, hud_visible=hud_visible,
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observed_ns=context.boot_now_ns, epoch_floor_ns=context.boot_floor_ns)
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