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IONIQ9, fix StockSCC, fix Cpu usage

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This commit is contained in:
ajouatom
2025-08-03 19:19:18 +09:00
parent bd2ed6664a
commit 1bc2b23ec1
13 changed files with 69 additions and 26 deletions
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opendbc_repo/opendbc/can/parser.py
+11 -7
View File
@@ -1,3 +1,4 @@
import time
import math
import numbers
from collections import defaultdict, deque
@@ -103,8 +104,12 @@ class MessageState:
if self.ignore_alive:
return True
if not self.timestamps:
if self.first_seen_nanos != 0 and (current_nanos - self.first_seen_nanos) < 2e9: # 2초 유예
return True
#print(f"Not Seen {self.name} on bus {self.address} has no timestamps yet, first seen at {self.first_seen_nanos} ns")
return False
if (current_nanos - self.timestamps[-1]) > self.timeout_threshold:
#print(f"Timeout {self.name} on bus {self.address} timed out: {current_nanos - self.timestamps[-1]} ns since last update")
return False
return True
@@ -130,8 +135,8 @@ class CANParser:
self.ts_nanos: dict[int | str, dict[str, int]] = {}
self.addresses: set[int] = set()
self.message_states: dict[int, MessageState] = {}
self.frame = 0
self.seen_addresses: set[int] = set()
self.controls_ready = False
for name_or_addr, freq in messages:
if isinstance(name_or_addr, numbers.Number):
@@ -179,6 +184,7 @@ class CANParser:
signals=list(msg.sigs.values()),
ignore_alive=freq is not None and math.isnan(freq),
)
state.first_seen_nanos = time.monotonic_ns() # 등록시 즉시 타임스탬프 설정
if freq is not None and freq > 0:
state.frequency = freq
state.timeout_threshold = (1_000_000_000 / freq) * 10
@@ -195,13 +201,12 @@ class CANParser:
for state in self.message_states.values():
if state.counter_fail >= MAX_BAD_COUNTER:
counters_valid = False
#print("counters_valid=", state.name)
if not state.valid(nanos, self.bus_timeout):
valid = False
self.invalid_time_counter += 1
if self.invalid_name is None or state.name != self.invalid_name or self.invalid_time_counter > 100:
if self.invalid_print_counter < 200:
print("CAN_INVALID = ", state.name)
if self.controls_ready and self.invalid_name is None or state.name != self.invalid_name or self.invalid_time_counter > 100:
if self.invalid_print_counter < 100:
print(f"CAN_INVALID = {state.name}, bus = {self.bus}")
self.invalid_print_counter += 1
self.invalid_name = state.name
self.invalid_time_counter = 0
@@ -210,7 +215,6 @@ class CANParser:
self.can_valid = self.can_invalid_cnt < CAN_INVALID_CNT and counters_valid
def update(self, strings, sendcan: bool = False):
self.frame += 1
if strings and not isinstance(strings[0], list | tuple):
strings = [strings]
@@ -226,7 +230,7 @@ class CANParser:
for address, dat, src in frames:
if src != self.bus:
continue
if self.frame > 800:
if self.controls_ready:
self.seen_addresses.add(address)
bus_empty = False
state = self.message_states.get(address)
opendbc_repo/opendbc/car/fingerprints.py
+1
View File
@@ -214,6 +214,7 @@ MIGRATION = {
"HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
"HYUNDAI IONIQ 5 PE (NE1)": HYUNDAI.HYUNDAI_IONIQ_5_PE,
"HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
"HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
"HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
"HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
"HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
opendbc_repo/opendbc/car/hyundai/carcontroller.py
+1 -2
View File
@@ -283,8 +283,7 @@ class CarController(CarControllerBase):
# prevent LFA from activating on HDA2 by sending "no lane lines detected" to ADAS ECU
if self.frame % 5 == 0 and hda2 and not camera_scc:
can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.hda2_lfa_block_msg,
self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING))
can_sends.extend(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS))
# LFA and HDA icons
if self.frame % 5 == 0 and (not hda2 or hda2_long):
opendbc_repo/opendbc/car/hyundai/carstate.py
+24 -9
View File
@@ -75,7 +75,8 @@ class CarState(CarStateBase):
self.steer_touch_info = {}
self.cruise_buttons_msg = None
self.hda2_lfa_block_msg = None
self.msg_0x362 = None
self.msg_0x2a4 = None
# On some cars, CLU15->CF_Clu_VehicleSpeed can oscillate faster than the dash updates. Sample at 5 Hz
self.cluster_speed = 0
@@ -133,9 +134,25 @@ class CarState(CarStateBase):
self.cp_bsm = None
self.controls_ready_count = 0
def update(self, can_parsers) -> structs.CarState:
if self.controls_ready_count <= 200:
if Params().get_bool("ControlsReady"):
self.controls_ready_count += 1
cp = can_parsers[Bus.pt]
cp_cam = can_parsers[Bus.cam]
cp_alt = can_parsers[Bus.alt] if Bus.alt in can_parsers else None
if self.controls_ready_count == 50:
cp.controls_ready = cp_cam.controls_ready = True
if cp_alt is not None:
cp_alt.controls_ready = True
elif self.controls_ready_count == 100:
print("cp_cam.seen_addresses =", cp_cam.seen_addresses)
print("cp.seen_addresses =", cp.seen_addresses)
if cp_alt is not None:
print("cp_alt.seen_addresses =", cp_alt.seen_addresses)
if self.CP.flags & HyundaiFlags.CANFD:
return self.update_canfd(can_parsers)
@@ -419,13 +436,9 @@ class CarState(CarStateBase):
if 442 in cp.seen_addresses:
self.cp_bsm = cp
print("######## BSM in ECAN")
print("######## BSM in CAM, cp_cam.seen_addresses =", cp_cam.seen_addresses)
print("######## BSM in CAM, cp.seen_addresses =", cp.seen_addresses)
elif 442 in cp_cam.seen_addresses:
self.cp_bsm = cp_cam
print("######## BSM in CAM")
print("######## BSM in CAM, cp_cam.seen_addresses =", cp_cam.seen_addresses)
print("######## BSM in CAM, cp.seen_addresses =", cp.seen_addresses)
else:
bsm_info = self.cp_bsm.vl["BLINDSPOTS_REAR_CORNERS"]
ret.leftBlindspot = (bsm_info["FL_INDICATOR"] + bsm_info["INDICATOR_LEFT_TWO"] + bsm_info["INDICATOR_LEFT_FOUR"]) > 0
@@ -501,7 +514,7 @@ class CarState(CarStateBase):
ret.gearStep = cp.vl["GEAR"]["GEAR_STEP"] if self.GEAR else 0
ret.gearStep = cp.vl["GEAR_ALT"]["GEAR_STEP"] if self.GEAR_ALT else ret.gearStep
if cp_alt:
if cp_alt and self.CP.flags & HyundaiFlags.CAMERA_SCC:
lane_info = None
lane_info = cp_alt.vl["CAM_0x362"] if self.CAM_0x362 else None
lane_info = cp_alt.vl["CAM_0x2a4"] if self.CAM_0x2a4 else lane_info
@@ -557,9 +570,11 @@ class CarState(CarStateBase):
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 and not (self.CP.flags & HyundaiFlags.CAMERA_SCC):
self.hda2_lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x362"] if self.CP.flags & HyundaiFlags.CANFD_HDA2_ALT_STEERING
else cp_cam.vl["CAM_0x2a4"])
if not (self.CP.flags & HyundaiFlags.CAMERA_SCC):
if self.msg_0x362 is not None or 0x362 in cp_cam.seen_addresses:
self.msg_0x362 = cp_cam.vl["CAM_0x362"]
elif self.msg_0x2a4 is not None or 0x2a4 in cp_cam.seen_addresses:
self.msg_0x2a4 = cp_cam.vl["CAM_0x2a4"]
speed_conv = CV.KPH_TO_MS # if self.is_metric else CV.MPH_TO_MS
cluSpeed = cp.vl["CRUISE_BUTTONS_ALT"]["CLU_SPEED"]
opendbc_repo/opendbc/car/hyundai/fingerprints.py
+8
View File
@@ -1099,6 +1099,14 @@ FW_VERSIONS = {
b'\xf1\x00CE MFC AT USA LHD 1.00 1.06 99211-KL000 230915',
],
},
CAR.HYUNDAI_IONIQ_9: {
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MEev RDR ----- 1.00 1.00 99110-GO000 ',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00ME MFC AT KOR LHD 1.00 1.00 99211-GO000 241007',
],
},
CAR.HYUNDAI_TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N9260 14Y',
opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py
+10 -4
View File
@@ -207,9 +207,15 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer,
return ret
def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
suppress_msg = "CAM_0x362" if lka_steering_alt else "CAM_0x2a4"
msg_bytes = 32 if lka_steering_alt else 24
def create_suppress_lfa(packer, CAN, CS):
if CS.msg_0x362 is not None:
suppress_msg = "CAM_0x362"
lfa_block_msg = CS.msg_0x362
elif CS.msg_0x2a4 is not None:
suppress_msg = "CAM_0x2a4"
lfa_block_msg = CS.msg_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)
@@ -218,7 +224,7 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
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)
return [packer.make_can_msg(suppress_msg, CAN.ACAN, values)]
def create_buttons(packer, CP, CAN, cnt, btn):
values = {
opendbc_repo/opendbc/car/hyundai/radar_interface.py
+1 -1
View File
@@ -37,7 +37,7 @@ def get_radar_can_parser_scc(CP):
CAN = CanBus(CP)
if CP.flags & HyundaiFlags.CANFD:
messages = [("SCC_CONTROL", 50)]
bus = CAN.ACAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.ECAN
bus = CAN.ECAN
else:
messages = [("SCC11", 50)]
bus = CAN.ECAN
opendbc_repo/opendbc/car/hyundai/values.py
+7
View File
@@ -406,6 +406,13 @@ class CAR(Platforms):
HYUNDAI_IONIQ_5.specs,
flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
)
HYUNDAI_IONIQ_9 = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Ioniq 9", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
],
CarSpecs(mass=2505, wheelbase=3.13, steerRatio=16.02),
flags=HyundaiFlags.EV | HyundaiFlags.ANGLE_CONTROL,
)
HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
[
HyundaiCarDocs("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
opendbc_repo/opendbc/car/torque_data/override.toml
+1
View File
@@ -69,6 +69,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
"HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
"HYUNDAI_IONIQ_6" = [2.5, 2.5, 0.005]
"HYUNDAI_IONIQ_9" = [1.75, 1.75, 0.15]
"HYUNDAI_AZERA_7TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
"HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
release/build_carrot.sh
+1 -1
View File
@@ -14,7 +14,7 @@ find . -name '*.pyc' -delete
find . -name 'moc_*' -delete
find . -name '__pycache__' -delete
rm -rf .sconsign.dblite Jenkinsfile release/
rm selfdrive/modeld/models/supercombo.onnx
rm selfdrive/modeld/models/*.onnx
touch prebuilt
# Add built files to git
selfdrive/car/card.py
+2 -1
View File
@@ -310,7 +310,8 @@ class Car:
t.join()
def main():
config_realtime_process(4, Priority.CTRL_HIGH)
#config_realtime_process(4, Priority.CTRL_HIGH)
config_realtime_process(6, Priority.CTRL_HIGH)
car = Car()
car.card_thread()
selfdrive/controls/radard.py
+1 -1
View File
@@ -100,7 +100,7 @@ def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks
offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
#vel_tolerance = 25.0 if lead.prob > 0.99 else 10.0
max_offset_vision_dist = max(offset_vision_dist * 0.35, 5.0)
max_offset_vision_vel = max(lead.v[0] * np.interp(lead.prob, [0.8, 0.98], [0.3, 0.7]), 5.0) # 확률이 낮으면 속도오차를 줄임.
max_offset_vision_vel = max(lead.v[0] * np.interp(lead.prob, [0.8, 0.98], [0.3, 0.5]), 5.0) # 확률이 낮으면 속도오차를 줄임.
def prob(c):
#if abs(c.dRel - offset_vision_dist) > max_offset_vision_dist:
selfdrive/frogpilot/fleetmanager/helpers.py
+1
View File
@@ -164,6 +164,7 @@ def ffmpeg_mp4_concat_wrap_process_builder(file_list, cameratype, chunk_size=102
command_line += ["-r", "20"]
command_line += ["-i", "concat:" + file_list]
command_line += ["-c", "copy"]
command_line += ["-bsf:a", "aac_adtstoasc"]
command_line += ["-map", "0"]
if not cameratype == "qcamera":
command_line += ["-vtag", "hvc1"]