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carrotpilot/opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
janpoo6427 2a39a83068 Update desire helper 
Update line ok

Fix corner long distance variables for left and right

Add new persistent parameters to params_keys.h

Added new persistent parameters for side gap margin, BSD hold time, and object clear time.

Refactor lane change logic in desire_helper.py

Remove unnecessary reset of lane change completion flag and add safety check for completed direction.
2026-06-05 20:07:19 +09:00

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import copy
import numpy as np
from opendbc.car import CanBusBase
from opendbc.car.crc import CRC16_XMODEM
from opendbc.car.hyundai.values import HyundaiFlags, HyundaiExtFlags
from openpilot.common.params import Params
from opendbc.car.common.conversions import Conversions as CV
from cereal import log
LaneChangeState = log.LaneChangeState
LaneChangeDirection = log.LaneChangeDirection
TurnDirection = log.Desire
def hyundai_crc8(data: bytes) -> int:
poly = 0x2F
crc = 0xFF
for byte in data:
crc ^= byte
for _ in range(8):
if crc & 0x80:
crc = ((crc << 1) ^ poly) & 0xFF
else:
crc = (crc << 1) & 0xFF
return crc ^ 0xFF
class CanBus(CanBusBase):
def __init__(self, CP, fingerprint=None, lka_steering=None) -> None:
super().__init__(CP, fingerprint)
if lka_steering is None:
lka_steering = CP.flags & HyundaiFlags.CANFD_HDA2.value if CP is not None else False
# On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. LKA steering cars
# have a different harness than the LFA steering variants in order to split
# a different bus, since the steering is done by different ECUs.
self._a, self._e = 1, 0
if lka_steering and Params().get_int("HyundaiCameraSCC") == 0: #배선개조는 무조건 Bus0가 ECAN임.
self._a, self._e = 0, 1
self._a += self.offset
self._e += self.offset
self._cam = 2 + self.offset
@property
def ECAN(self):
return self._e
@property
def ACAN(self):
return self._a
@property
def CAM(self):
return self._cam
# CAN LIST (CAM) - 롱컨개조시... ADAS + CAM
# 160: ADRV_0x160
# 1da: ADRV_0x1da
# 1ea: ADRV_0x1ea
# 200: ADRV_0x200
# 345: ADRV_0x345
# 1fa: CLUSTER_SPEED_LIMIT
# 12a: LFA
# 1e0: LFAHDA_CLUSTER
# 11a:
# 1b5:
# 1a0: SCC_CONTROL
# CAN LIST (ACAN)
# 160: ADRV_0x160
# 51: ADRV_0x51
# 180: CAM_0x180
# ...
# 185: CAM_0x185
# 1b6: CAM_0x1b6
# ...
# 1b9: CAM_0x1b9
# 1fb: CAM_0x1fb
# 2a2 - 2a4
# 2bb - 2be
# LKAS
# 201 - 2a0
def create_steering_messages_camera_scc(frame, packer, CP, CAN, CC, lat_active, apply_steer, CS, apply_angle, max_torque, angle_control):
emergency_steering = False
if CS.adrv_0x161 is not None:
values = CS.adrv_0x161
emergency_steering = values["ALERTS_1"] in [11, 12, 13, 14, 15, 21, 22, 23, 24, 25, 26]
ret = []
if CS.mdps is not None:
values = copy.copy(CS.mdps)
#rx_counter = values.pop("COUNTER", None)
if angle_control:
if CS.lfa_alt is not None:
values["LFA2_ACTIVE"] = CS.lfa_alt["LKAS_ANGLE_ACTIVE"]
else:
if CS.lfa is not None:
values["LKA_ACTIVE"] = 1 if CS.lfa["STEER_REQ"] == 1 else 0
if frame % 1000 < 40:
values["STEERING_COL_TORQUE"] += 220
#ret.append(packer.make_can_msg("MDPS", CAN.CAM, values, rx_counter = rx_counter))
ret.append(packer.make_can_msg("MDPS", CAN.CAM, values))
if frame % 10 == 0:
if CS.steer_touch_2af is not None:
values = copy.copy(CS.steer_touch_2af)
if frame % 1000 < 40:
values["TOUCH_DETECT"] = 3
values["TOUCH1"] = 50
values["TOUCH2"] = 50
values["CHECKSUM_"] = 0
dat = packer.make_can_msg("STEER_TOUCH_2AF", 0, values)[1]
values["CHECKSUM_"] = hyundai_crc8(dat[1:8])
ret.append(packer.make_can_msg("STEER_TOUCH_2AF", CAN.CAM, values))
if angle_control:
if CS.lfa_alt is not None:
values = copy.copy(CS.lfa_alt)
rx_counter = values.pop("COUNTER", None)
if emergency_steering:
pass
else:
#values = {} #CS.lfa_alt
values["LKAS_ANGLE_ACTIVE"] = 2 if CC.latActive else 1
values["LKAS_ANGLE_CMD"] = -apply_angle
values["LKAS_ANGLE_MAX_TORQUE"] = max_torque if CC.latActive else 0
ret.append(packer.make_can_msg("LFA_ALT", CAN.ECAN, values, rx_counter = rx_counter))
if CS.lfa is not None:
values = copy.copy(CS.lfa)
rx_counter = values.pop("COUNTER", None)
if not emergency_steering:
values["LKA_MODE"] = 0
values["LKA_ICON"] = 2 if CC.latActive else 1
values["TORQUE_REQUEST"] = -1024 # apply_steer,
values["VALUE63"] = 0 # LKA_ASSIST
values["STEER_REQ"] = 0 # 1 if lat_active else 0,
values["HAS_LANE_SAFETY"] = 0 # hide LKAS settings
values["LKA_ACTIVE"] = 3 if CC.latActive else 0 # this changes sometimes, 3 seems to indicate engaged
values["VALUE64"] = 0 #STEER_MODE, NEW_SIGNAL_2
values["LKAS_ANGLE_CMD"] = -25.6 #-apply_angle,
values["LKAS_ANGLE_ACTIVE"] = 0 #2 if lat_active else 1,
values["LKAS_ANGLE_MAX_TORQUE"] = 0 #max_torque if lat_active else 0,
values["NEW_SIGNAL_1"] = 10
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values, rx_counter = rx_counter))
elif CS.lfa is not None:
values = {}
values["LKA_MODE"] = 2
values["LKA_ICON"] = 2 if lat_active else 1
values["TORQUE_REQUEST"] = apply_steer
values["STEER_REQ"] = 1 if lat_active else 0
values["VALUE64"] = 0 # STEER_MODE, NEW_SIGNAL_2
values["HAS_LANE_SAFETY"] = 0
values["LKA_ACTIVE"] = 0 # NEW_SIGNAL_1
values["DampingGain"] = 0 if lat_active else 100
#values["VALUE63"] = 0
#values["VALUE82_SET256"] = 0
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer, apply_angle, max_torque, angle_control):
ret = []
if angle_control:
values = {
"LKA_MODE": 0,
"LKA_ICON": 2 if enabled else 1,
"TORQUE_REQUEST": 0, # apply_steer,
"VALUE63": 0, # LKA_ASSIST
"STEER_REQ": 0, # 1 if lat_active else 0,
"HAS_LANE_SAFETY": 0, # hide LKAS settings
"LKA_ACTIVE": 3 if lat_active else 0, # this changes sometimes, 3 seems to indicate engaged
"VALUE64": 0, #STEER_MODE, NEW_SIGNAL_2
"LKAS_ANGLE_CMD": -apply_angle,
"LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
"LKAS_ANGLE_MAX_TORQUE": max_torque if lat_active else 0,
# test for EV6PE
"NEW_SIGNAL_1": 10, #2,
"DampingGain": 9,
"VALUE231": 146,
"VALUE239": 1,
"VALUE247": 255,
"VALUE255": 255,
}
else:
values = {
"LKA_MODE": 2,
"LKA_ICON": 2 if enabled else 1,
"TORQUE_REQUEST": apply_steer,
"DampingGain": 100, #3 if enabled else 100,
"STEER_REQ": 1 if lat_active else 0,
#"STEER_MODE": 0,
"HAS_LANE_SAFETY": 0, # hide LKAS settings
"VALUE63": 0,
"VALUE64": 100,
}
if CP.flags & HyundaiFlags.CANFD_HDA2:
lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING else "LKAS"
if CP.openpilotLongitudinalControl:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
if not (CP.flags & HyundaiFlags.CAMERA_SCC.value):
ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, values))
else:
ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
return ret
def create_suppress_lfa(packer, CAN, CS):
if CS.cam_0x362 is not None:
suppress_msg = "CAM_0x362"
lfa_block_msg = CS.cam_0x362
elif CS.cam_0x2a4 is not None:
suppress_msg = "CAM_0x2a4"
lfa_block_msg = CS.cam_0x2a4
else:
return []
#values = {f"BYTE{i}": lfa_block_msg[f"BYTE{i}"] for i in range(3, msg_bytes) if i != 7}
values = copy.copy(lfa_block_msg)
values["COUNTER"] = lfa_block_msg["COUNTER"]
values["SET_ME_0"] = 0
values["SET_ME_0_2"] = 0
values["LEFT_LANE_LINE"] = 0
values["RIGHT_LANE_LINE"] = 0
return [packer.make_can_msg(suppress_msg, CAN.ACAN, values)]
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
"COUNTER": cnt,
"SET_ME_1": 1,
"CRUISE_BUTTONS": btn,
}
#bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
bus = CAN.ECAN
return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
# TODO: why do we copy different values here?
if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"NEW_SIGNAL_1",
"MainMode_ACC",
"ACCMode",
"ZEROS_9",
"CRUISE_STANDSTILL",
"ZEROS_5",
"DISTANCE_SETTING",
"VSetDis",
]}
else:
values = {s: cruise_info_copy[s] for s in [
"COUNTER",
"CHECKSUM",
"ACCMode",
"VSetDis",
"CRUISE_STANDSTILL",
]}
values.update({
"ACCMode": 4,
"aReqRaw": 0.0,
"aReqValue": 0.0,
})
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_lfahda_cluster(packer, CS, CAN, long_active, lat_active):
if CS.lfahda_cluster is not None:
values = copy.copy(CS.lfahda_cluster)
rx_counter = values.pop("COUNTER", None)
else:
return []
values = {}
rx_counter = None
values["LFA_OptUsmSta"] = 2
values["HDA_OptUsmSta"] = 2
values["HDA_CntrlModSta"] = 2 if long_active else 0
values["HDA_LFA_SymSta"] = 2 if lat_active else 0
return [packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values, rx_counter=rx_counter)]
def create_lfa_icon_non_camera_scc(packer, CS, CAN, CC):
ret = []
if CS.adrv_0x161 is not None:
values = copy.copy(CS.adrv_0x161)
rx_counter = values.pop("COUNTER", None)
lat_active = CC.latActive
lat_enabled = CS.out.latEnabled
values["LFA_ICON"] = 2 if lat_active else 1 if lat_enabled else 0
values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 0
if values["ALERTS_2"] in [1, 2, 5, 6, 10, 21, 22]:
values["ALERTS_2"] = 0
values["DAW_ICON"] = 0
if values["ALERTS_1"] == 0:
values["SOUNDS_1"] = 0
values["SOUNDS_2"] = 0
values["SOUNDS_4"] = 0
if values["ALERTS_3"] in [3, 4, 11, 12, 13, 14, 17, 19, 26, 7, 8, 9, 10]:
values["ALERTS_3"] = 0
values["SOUNDS_3"] = 0
if values["ALERTS_5"] in [1, 2, 3, 4, 5]:
values["ALERTS_5"] = 0
ret.append(packer.make_can_msg("ADRV_0x161", CAN.ECAN, values, rx_counter=rx_counter))
return ret
def create_acc_control_scc2(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, hyundai_jerk, CS):
if CS.scc_control is None:
return None
enabled = (enabled or CS.softHoldActive > 0) and CS.paddle_button_prev == 0
acc_mode = 0 if not enabled else (2 if gas_override else 1)
if hyundai_jerk.carrot_cruise == 1:
acc_mode = 4 if enabled else 0
enabled = False
accel = accel_last = 0.5
elif hyundai_jerk.carrot_cruise == 2:
accel = accel_last = hyundai_jerk.carrot_cruise_accel
jerk_u = hyundai_jerk.jerk_u
jerk_l = hyundai_jerk.jerk_l
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
a_val, a_raw = 0, 0
else:
a_raw = accel
a_val = accel #np.clip(accel, accel_last - jn, accel_last + jn)
values = copy.copy(CS.scc_control)
rx_counter = values.pop("COUNTER", None)
values["ACCMode"] = acc_mode
values["MainMode_ACC"] = 1
values["StopReq"] = 1 if stopping or CS.softHoldActive > 0 else 0 # 1: Stop control is required, 2: Not used, 3: Error Indicator
values["aReqValue"] = a_val
values["aReqRaw"] = a_raw
values["VSetDis"] = set_speed
#values["JerkLowerLimit"] = jerk if enabled else 1
#values["JerkUpperLimit"] = 3.0
values["JerkLowerLimit"] = jerk_l if enabled else 1
values["JerkUpperLimit"] = 2.0 if stopping or CS.softHoldActive else jerk_u
values["DISTANCE_SETTING"] = hud_control.leadDistanceBars # + 5
#values["DISTANCE_SETTING"] = hud_control.leadDistanceBars + 5
#values["ACC_ObjDist"] = 1
#values["ObjValid"] = 0
#values["OBJ_STATUS"] = 2
#values["NSCCOper"] = 1 if enabled else 0 # 0: off, 1: Ready, 2: Act, 3: Error Indicator
#values["NSCCOnOff"] = 2 # 0: Default, 1: Off, 2: On, 3: Invalid
#values["SET_ME_3"] = 0x3 # objRelsped와 충돌
#values["ACC_ObjLatPos"] = - hud_control.leadDPath
values["DriveMode"] = 0 # 0: Default, 1: Comfort Mode, 2:Normal mode, 3:Dynamic mode, reserved
hud_lead_info = 0
if hud_control.leadVisible:
hud_lead_info = 1 if values["ACC_ObjRelSpd"] > 0 else 2
values["HUD_LEAD_INFO"] = hud_lead_info #1: in-path object detected(uncontrollable), 2: controllable long, 3: controllable long & lat, ... reserved
values["DriverAlert"] = 0 # 1: SCC Disengaged, 2: No SCC Engage condition, 3: SCC Disenganed when the vehicle stops
values["TARGET_DISTANCE"] = CS.out.vEgo * 1.0 + 4.0
soft_hold_info = 1 if CS.softHoldActive > 1 and enabled else 0
# 이거안하면 정지중 뒤로 밀리는 현상 발생하는듯.. (신호정지중에 뒤로 밀리는 경험함.. 시험해봐야)
if values["InfoDisplay"] != 5: #5: Front Car Departure Notice
values["InfoDisplay"] = 4 if stopping and CS.out.aEgo > -0.3 else 0 # 1: SCC Mode, 2: Convention Cruise Mode, 3: Object disappered at low speed, 4: Available to resume acceleration control, 5: Front vehicle departure notice, 6: Reserved, 7: Invalid
values["TakeOverReq"] = 0 # 1: Takeover request, 2: Not used, 3: Error indicator , 이것이 켜지면 가속을 안하는듯함.
#values["NEW_SIGNAL_4"] = 9 if hud_control.leadVisible else 0
# AccelLimitBandUpper, Lower
values["SysFailState"] = 0 # 1: Performance degredation, 2: system temporairy unavailble, 3: SCC Service required , 눈이 묻어 레이더오류시... 2가 됨. 이때 가속을 안함...
values["AccelLimitBandUpper"] = 0.0 # 이값이 1.26일때 가속을 안하는 증상이 보임..
values["AccelLimitBandLower"] = 0.0
values["ZEROS_7"] = 1
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control, jerk_u, jerk_l, CS):
enabled = enabled or CS.softHoldActive > 0
jerk = 5
jn = jerk / 50
if not enabled or gas_override:
a_val, a_raw = 0, 0
else:
a_raw = accel
a_val = np.clip(accel, accel_last - jn, accel_last + jn)
values = {
"ACCMode": 0 if not enabled else (2 if gas_override else 1),
"MainMode_ACC": 1,
"StopReq": 1 if stopping or CS.softHoldActive > 0 else 0,
"aReqValue": a_val,
"aReqRaw": a_raw,
"VSetDis": set_speed,
#"JerkLowerLimit": jerk if enabled else 1,
#"JerkUpperLimit": 3.0,
"JerkLowerLimit": jerk_l if enabled else 1,
"JerkUpperLimit": jerk_u,
"ACC_ObjDist": 1,
#"ObjValid": 0,
#"OBJ_STATUS": 2,
"NSCCOper": 0,
"NSCCOnOff": 2,
"DriveMode": 0,
#"SET_ME_3": 0x3,
"ACC_ObjLatPos": 0x64,
"DISTANCE_SETTING": hud_control.leadDistanceBars, # + 5,
"InfoDisplay": 4 if stopping and CS.out.cruiseState.standstill else 0,
}
return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
ret = []
values = {
}
ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
blink = 0
if left_blink:
blink = 3
elif right_blink:
blink = 4
values = {
"BLINKER_CONTROL": blink,
}
ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
return ret
def create_fca_warning_light(CP, packer, CAN, frame):
ret = []
if CP.flags & HyundaiFlags.CAMERA_SCC.value:
return ret
if frame % 2 == 0:
values = {
'AEB_SETTING': 0x1, # show AEB disabled icon
'SET_ME_2': 0x2,
'SET_ME_FF': 0xff,
'SET_ME_FC': 0xfc,
'SET_ME_9': 0x9,
#'DATA102': 1,
}
ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
return ret
def create_tcs_messages(packer, CAN, CS):
ret = []
if CS.tcs is not None:
values = copy.copy(CS.tcs)
#rx_counter = values.pop("COUNTER", None)
values["DriverBraking"] = 0
values["NEW_SIGNAL_20"] = 0
values["NEW_SIGNAL_11"] = 0
values["DriverBrakingLowSens"] = 0
#values["NEW_SIGNAL_1"] = 0 # accel과 관련.. 옆두부 꺼지는것과 관련? 확인필요
#values["ACC_REQ"] = 1 # 옆두부 꺼지는것과 관련? 확인필요.. 항상 켜지게함..
values["NEW_SIGNAL_1"] = 0 if values["ACC_REQ"] == 1 else 1 # 옆두부..
#ret.append(packer.make_can_msg("TCS", CAN.CAM, values, rx_counter = rx_counter))
ret.append(packer.make_can_msg("TCS", CAN.CAM, values))
return ret
def forward_button_message(packer, CAN, frame, CS, cruise_button, MainMode_ACC_trigger, LFA_trigger):
ret = []
if frame % 2 == 0:
if CS.cruise_buttons_msg is not None:
values = copy.copy(CS.cruise_buttons_msg)
#rx_counter = values.pop("COUNTER", None)
cruise_button_driver = values["CRUISE_BUTTONS"]
if cruise_button_driver == 0:
values["CRUISE_BUTTONS"] = cruise_button
if MainMode_ACC_trigger > 0:
#values["ADAPTIVE_CRUISE_MAIN_BTN"] = 1
pass
elif LFA_trigger > 0:
values["LFA_BTN"] = 1
#ret.append(packer.make_can_msg(CS.cruise_btns_msg_canfd, CAN.CAM, values, rx_counter = rx_counter))
ret.append(packer.make_can_msg(CS.cruise_btns_msg_canfd, CAN.CAM, values))
return ret
def create_adrv_messages(CP, packer, CAN, frame):
# messages needed to car happy after disabling
# the ADAS Driving ECU to do longitudinal control
ret = []
if not CP.flags & HyundaiFlags.CAMERA_SCC.value:
values = {}
ret.extend(create_fca_warning_light(CP, packer, CAN, frame))
if frame % 5 == 0:
values = {
#'HDA_MODE1': 0x8,
'HDA_MODE2': 0x1,
#'SET_ME_1C': 0x1c,
'SET_ME_FF': 0xff,
#'SET_ME_TMP_F': 0xf,
#'SET_ME_TMP_F_2': 0xf,
#'DATA26': 1, #1
#'DATA32': 5, #5
}
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
values = {
'SET_ME_E1': 0xe1,
#'SET_ME_3A': 0x3a,
'TauGapSet' : 1,
'NEW_SIGNAL_2': 3,
}
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
if frame % 20 == 0:
values = {
'SET_ME_15': 0x15,
}
ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
if frame % 100 == 0:
values = {
'SET_ME_22': 0x22,
'SET_ME_41': 0x41,
}
ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
return ret
## carrot
def alt_cruise_buttons(packer, CP, CAN, buttons, cruise_btns_msg, cnt):
cruise_btns_msg["CRUISE_BUTTONS"] = buttons
cruise_btns_msg["COUNTER"] = (cruise_btns_msg["COUNTER"] + 1 + cnt) % 256
bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
return packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, cruise_btns_msg)
def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
crc = 0
for i in range(2, len(d)):
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ d[i]]) & 0xFFFF
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ ((address >> 0) & 0xFF)]) & 0xFFFF
crc = ((crc << 8) ^ CRC16_XMODEM[(crc >> 8) ^ ((address >> 8) & 0xFF)]) & 0xFFFF
if len(d) == 8:
crc ^= 0x5F29
elif len(d) == 16:
crc ^= 0x041D
elif len(d) == 24:
crc ^= 0x819D
elif len(d) == 32:
crc ^= 0x9F5B
return crc
def _clip_int(x, lo, hi):
return lo if x < lo else hi if x > hi else int(x)
def _get_desire_and_lane_changing(md):
desire = 0
lane_changing = 0
if md is not None:
desire = md.meta.desire.raw
ds = md.meta.desireState
if len(ds) > 4:
if ds[1] > 0.9: lane_changing = 1
if ds[2] > 0.9: lane_changing = 2
if ds[3] > 0.9: lane_changing = 3
if ds[4] > 0.9: lane_changing = 4
return desire, lane_changing
def _apply_lane_desire(values, desire):
#values['LANE_CHANGING'] = 0
if desire == 1: # 좌회전
values['LANE_CHANGING'] = 1
values["LANELINE_CURVATURE"] = 15
values["LANELINE_CURVATURE_DIRECTION"] = 0
elif desire == 2: # 우회전
values['LANE_CHANGING'] = 2
values["LANELINE_CURVATURE"] = 15
values["LANELINE_CURVATURE_DIRECTION"] = 1
elif desire == 3: # 좌차선변경
values['LANE_CHANGING'] = 3
elif desire == 4: # 우차선변경
values['LANE_CHANGING'] = 4
def _apply_radar_blink(values, radar_pairs, frame, *,
disp_dist=30.0, min_dist=14.0,
max_interval=100, t=1.0):
"""
거리 > min_dist 일 때만 깜빡임.
거리 멀수록 interval 커짐(느리게).
"""
for det_key, dist_key in radar_pairs:
dist = values[dist_key]
if dist <= min_dist:
continue
d = min(dist, disp_dist)
interval = int((1 + (max_interval - 1) * (d / disp_dist)) * t)
interval = _clip_int(interval, 1, max_interval)
blink = (frame // interval) & 1
values[det_key] = 2 - blink
values[dist_key] = min_dist
def _make_ccnc_values(values, CS, lat_active, frame, hud_control,
lane_line=True, corner_radar=True,
desire=0,
blink_pairs=None,
blink_t=1.0):
if lane_line:
curvature = round(CS.out.steeringAngleDeg / 3)
mag = min(abs(curvature), 15)
curv = mag + (-1 if curvature < 0 else 0)
direction = 1 if curvature < 0 else 0
values["LANELINE_CURVATURE"] = curv if lat_active else 0
values["LANELINE_CURVATURE_DIRECTION"] = direction if lat_active else 0
if desire:
_apply_lane_desire(values, desire)
if corner_radar:
radar_all = [
('LF_DETECT', 'LF_DETECT_DISTANCE'),
('RF_DETECT', 'RF_DETECT_DISTANCE'),
('LR_DETECT', 'LR_DETECT_DISTANCE'),
('RR_DETECT', 'RR_DETECT_DISTANCE'),
]
for det_key, dist_key in radar_all:
if values[det_key] >= 4 and values[dist_key] != 0:
values[det_key] = 1
if blink_pairs:
_apply_radar_blink(values, blink_pairs, frame, t=blink_t)
def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
disp_angle, left_lane_warning, right_lane_warning,
enable_corner_radar, stopping, canfd_debug):
ret = []
md = CS.MD
if not hasattr(create_ccnc_messages, '_lane_line_check') or frame % 100 == 0:
create_ccnc_messages._lane_line_check = Params().get_int("LaneLineCheck")
lane_line_check = create_ccnc_messages._lane_line_check
desire, lane_changing = _get_desire_and_lane_changing(md)
if CP.flags & HyundaiFlags.CAMERA_SCC.value:
HDA_CntrlModSta = 0
HDA_LFA_SymSta = 0
if CS.lfahda_cluster is not None:
HDA_CntrlModSta = CS.lfahda_cluster["HDA_CntrlModSta"]
HDA_LFA_SymSta = CS.lfahda_cluster["HDA_LFA_SymSta"]
if frame % 2 == 0:
#if CS.adrv_0x160 is not None:
# values = copy.copy(CS.adrv_0x160)
# ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
if CS.cruise_buttons_msg is not None:
values = copy.copy(CS.cruise_buttons_msg)
if HDA_LFA_SymSta == 0 and 0 < frame % 200 < 12:
values["LFA_BTN"] = 1
if CC.enabled:
if not CS.MainMode_ACC:
if 10 < frame % 200 <= 16 and CS.out.vEgo > 3.:
values["ADAPTIVE_CRUISE_MAIN_BTN"] = 1
elif CS.ACCMode in [0, 4]:
if 10 < frame % 200 <= 16 and CS.out.vEgo > 3.:
values["CRUISE_BUTTONS"] = 2
elif CS.scc_control is not None and CS.scc_control["InfoDisplay"] == 4:
if 10 < frame % 30 <= 16 and not stopping:
values["CRUISE_BUTTONS"] = 2
else:
if CS.adrv_0x1ea is not None and CS.adrv_0x1ea["HDA_MODE2"] == 0: # if corner radar is disabled, send main btn
if 10 < frame % 1000 <= 16 and CS.out.vEgo > 3:
values["ADAPTIVE_CRUISE_MAIN_BTN"] = 1
ret.append(packer.make_can_msg(CS.cruise_btns_msg_canfd, CAN.CAM, values))
# --- 0x161/0x200/0x1ea/0x162 (frame%5) ---
if frame % 5 == 0:
lat_active = CC.latActive
if CS.adrv_0x161 is not None:
main_enabled = CS.out.cruiseState.available
cruise_enabled = CC.enabled
lat_enabled = CS.out.latEnabled
nav_active = hud_control.activeCarrot > 1
# hdpuse carrot
hdp_use = int(Params().get("HDPuse"))
side_object_detect_display = int(Params().get("SideObjectDetectDisplay"))
hdp_active = False
if hdp_use == 1:
hdp_active = cruise_enabled and nav_active
elif hdp_use == 2:
hdp_active = cruise_enabled
# hdpuse carrot
values = copy.copy(CS.adrv_0x161)
rx_counter = values.pop("COUNTER", None)
values["SETSPEED"] = (6 if hdp_active else 3 if cruise_enabled else 1) if main_enabled else 0
values["SETSPEED_HUD"] = (5 if hdp_active else 3 if cruise_enabled else 1) if main_enabled else 0
set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
values["vSetDis"] = int(set_speed_in_units + 0.5)
values["DISTANCE"] = 4 if hdp_active else hud_control.leadDistanceBars
values["DISTANCE_LEAD"] = 2 if cruise_enabled and hud_control.leadVisible else 1 if main_enabled and hud_control.leadVisible else 0
values["DISTANCE_CAR"] = 3 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
values["DISTANCE_SPACING"] = 5 if hdp_active else 1 if cruise_enabled else 0
values["TARGET"] = 1 if hud_control.leadVisible and cruise_enabled else 0
values["TARGET_DISTANCE"] = int(hud_control.leadDistance)
values["BACKGROUND"] = 6 if CS.paddle_button_prev > 0 else 1 if cruise_enabled else 3 if lat_active else 7
values["CENTERLINE"] = 1 if HDA_CntrlModSta > 0 else 0
values["CAR_CIRCLE"] = 2 if hdp_active else 1 if cruise_enabled else 0
values["NAV_ICON"] = 2 if nav_active and cruise_enabled else 1 if main_enabled and nav_active else 0
values["HDA_ICON"] = 5 if hdp_active else 2 if cruise_enabled else 1 if main_enabled else 0
values["LFA_ICON"] = 5 if hdp_active else 2 if lat_active else 1 if lat_enabled else 0
values["LKA_ICON"] = 4 if lat_active else 3 if lat_enabled else 0
values["FCA_ALT_ICON"] = 0
if values["ALERTS_2"] in [1, 2, 5, 6, 10, 21, 22]:
values["ALERTS_2"] = 0
values["DAW_ICON"] = 0
if values["ALERTS_1"] == 0: # alerts가 있으면 사운드도 같이 나옴
values["SOUNDS_1"] = 0
values["SOUNDS_2"] = 0
values["SOUNDS_4"] = 0
if values["ALERTS_3"] in [3, 4, 11, 12, 13, 14, 17, 19, 20, 26, 27, 28, 7, 8, 9, 10]: # hide gap distance msg.(11,12,13,14), lanechange(19,20,27, 28)
values["ALERTS_3"] = 0
values["SOUNDS_3"] = 0
if values["ALERTS_5"] in [1, 2, 3, 4, 5]:
values["ALERTS_5"] = 0
if values["ALERTS_5"] in [11] and CS.softHoldActive == 0:
values["ALERTS_5"] = 0
# curvature 표시(0x161쪽 기존 로직 유지)
curvature = round(CS.out.steeringAngleDeg / 3)
values["LANELINE_CURVATURE"] = (min(abs(curvature), 15) + (-1 if curvature < 0 else 0)) if lat_active else 0
values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
# LANELINE 경고 판단 (CAN raw 기준)
if lane_line_check >= 1:
lane_line_warn_left = CS.out.leftLaneLine % 10 not in (0, 5)
lane_line_warn_right = CS.out.rightLaneLine % 10 not in (0, 5)
else:
lane_line_warn_left = CS.out.leftLaneLine // 10 == 2 # 황색(10~)/주황(20~) 차단
lane_line_warn_right = CS.out.rightLaneLine // 10 == 2
lca_avail_left = (md is not None and md.meta.laneChangeAvailableLeft)
lca_avail_right = (md is not None and md.meta.laneChangeAvailableRight)
side_object_left = (md is not None and md.meta.sideObjectDetectedLeft)
side_object_right = (md is not None and md.meta.sideObjectDetectedRight)
# 왼쪽
if lca_avail_left:
lane_color = 6 # 녹색: 변경 가능
elif lane_line_warn_left or CS.out.leftBlindspot or (side_object_left and side_object_detect_display):
lane_color = 4 # 주황: 명확한 차단 이유 있음
else:
lane_color = 2 # 흰색: 기타 불가 (모델 판단 등)
if hud_control.leftLaneDepart:
values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
else:
values["LANELINE_LEFT"] = lane_color
# 오른쪽
if lca_avail_right:
lane_color = 6
elif lane_line_warn_right or CS.out.rightBlindspot or (side_object_right and side_object_detect_display):
lane_color = 4
else:
lane_color = 2
if hud_control.rightLaneDepart:
values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
else:
values["LANELINE_RIGHT"] = lane_color
values["LCA_LEFT_ARROW"] = 2 if CS.out.leftBlinker else 0
values["LCA_RIGHT_ARROW"] = 2 if CS.out.rightBlinker else 0
values["LCA_LEFT_ICON"] = (1 if not lca_avail_left else 2) if lat_active else 1 if lat_enabled else 0
values["LCA_RIGHT_ICON"] = (1 if not lca_avail_right else 2) if lat_active else 1 if lat_enabled else 0
values["LANE_LEFT"] = 1 if desire in (1, 3) else 0
values["LANE_RIGHT"] = 1 if desire in (2, 4) else 0
ret.append(packer.make_can_msg("ADRV_0x161", CAN.ECAN, values, rx_counter = rx_counter))
if CS.adrv_0x200 is not None:
values = copy.copy(CS.adrv_0x200)
rx_counter = values.pop("COUNTER", None)
values["TauGapSet"] = hud_control.leadDistanceBars
ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values, rx_counter = rx_counter))
if CS.adrv_0x1ea is not None:
values = copy.copy(CS.adrv_0x1ea)
rx_counter = values.pop("COUNTER", None)
# blinker hold
values['LEFT_BLINK_HOLD'] = 1 if lane_changing == 3 else 0
values['RIGHT_BLINK_HOLD'] = 1 if lane_changing == 4 else 0
_make_ccnc_values(
values, CS, lat_active, frame, hud_control,
lane_line=True,
corner_radar=True,
desire=desire,
# 기존대로 LR/RR만 깜빡임
blink_pairs=[('LR_DETECT', 'LR_DETECT_DISTANCE'),
('RR_DETECT', 'RR_DETECT_DISTANCE')],
blink_t=1.0
)
ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values, rx_counter = rx_counter))
if CS.ccnc_0x162 is not None:
values = copy.copy(CS.ccnc_0x162)
if hud_control.leadDistance > 0:
values["FF_DISTANCE"] = hud_control.leadDistance
ff_type = 3 if hud_control.leadRadar == 1 else 13
values["FF_DETECT"] = ff_type if hud_control.leadRelSpeed > -0.1 else ff_type + 1
_make_ccnc_values(
values, CS, lat_active, frame, hud_control,
lane_line=False,
corner_radar=True,
desire=0,
# 필요하면 162도 깜빡임 적용(원래 코드처럼 LR/RR만)
blink_pairs=[('LR_DETECT', 'LR_DETECT_DISTANCE'),
('RR_DETECT', 'RR_DETECT_DISTANCE')],
blink_t=1.0
)
if (left_lane_warning and not CS.out.leftBlinker) or (right_lane_warning and not CS.out.rightBlinker):
values["VIBRATE"] = 1
if canfd_debug > 0:
values["FAULT_LSS"] = 0
values["FAULT_DAS"] = 0
ret.append(packer.make_can_msg("CCNC_0x162", CAN.ECAN, values))
# --- NEW_MSG_4B9 (corner radar keep-alive?) ---
if enable_corner_radar > 0:
if HDA_CntrlModSta == 0:
if frame % 500 in [10, 20, 30]:
values = {
'BYTE_1': 0,
'BYTE_2': 0,
'BYTE_3': 0x80,
'BYTE_4': 0x8A,
'BYTE_5': 0x32,
'BYTE_6': 0x30,
'BYTE_7': 0x01,
'BYTE_8': 0x00,
}
ret.append(packer.make_can_msg("NEW_MSG_4B9", CAN.CAM, values))
elif frame % 500 in [40, 50, 60]:
values = {
'BYTE_1': 0xff,
'BYTE_2': 0xff,
'BYTE_3': 0xff,
'BYTE_4': 0xff,
'BYTE_5': 0xff,
'BYTE_6': 0xff,
'BYTE_7': 0xff,
'BYTE_8': 0xff,
}
ret.append(packer.make_can_msg("NEW_MSG_4B9", CAN.CAM, values))
if False: # canfd_debug > 1 and frame % 20 == 0:
if CS.hda_info_4a3 is not None:
values = copy.copy(CS.hda_info_4a3)
values["LinkClass"] = 1
values["SPEED_LIMIT"] = 100
ret.append(packer.make_can_msg("HDA_INFO_4A3", CAN.CAM, values))
return ret
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