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Hyundai CAN-FD Longitudinal: Parse lead info for camera-based SCC platforms

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This commit is contained in:
Jason Wen
2023-11-21 13:36:13 -05:00
parent 96a67d464a
commit 3711d5e91a
2 changed files with 22 additions and 8 deletions
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selfdrive/car/hyundai/interface.py
+4
View File
@@ -272,6 +272,10 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
(CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR))
if (candidate in (HYBRID_CAR | EV_CAR) and candidate not in
(CANFD_UNSUPPORTED_LONGITUDINAL_CAR | CANFD_RADAR_SCC_CAR | NON_SCC_CAR)): # TODO: Gate radar disable cars until we can verify the signals match
ret.spFlags |= HyundaiFlagsSP.SP_CAMERA_SCC_LEAD.value
ret.radarUnavailable = False
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
selfdrive/car/hyundai/radar_interface.py
+18 -8
View File
@@ -3,7 +3,7 @@ import math
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP
from openpilot.selfdrive.car.hyundai.values import DBC, HyundaiFlagsSP, CANFD_CAR
RADAR_START_ADDR = 0x500
RADAR_MSG_COUNT = 32
@@ -12,12 +12,18 @@ RADAR_MSG_COUNT = 32
def get_radar_can_parser(CP):
if DBC[CP.carFingerprint]['radar'] is None:
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
lead_src, bus = "ESCC", 0
elif CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD:
lead_src, bus = "SCC11", 2
if CP.carFingerprint in CANFD_CAR:
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
lead_src, bus = "SCC_CONTROL", 2
else:
return None
else:
return None
if CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC:
lead_src, bus = "ESCC", 0
elif CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD:
lead_src, bus = "SCC11", 2
else:
return None
messages = [(lead_src, 50)]
return CANParser(DBC[CP.carFingerprint]['pt'], messages, bus)
@@ -28,10 +34,12 @@ def get_radar_can_parser(CP):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.CP = CP
self.enhanced_scc = (CP.spFlags & HyundaiFlagsSP.SP_ENHANCED_SCC) and DBC[CP.carFingerprint]['radar'] is None
self.camera_scc = CP.spFlags & HyundaiFlagsSP.SP_CAMERA_SCC_LEAD
self.updated_messages = set()
self.trigger_msg = 0x2AB if self.enhanced_scc else \
0x1A0 if self.camera_scc and CP.carFingerprint in CANFD_CAR else \
0x420 if self.camera_scc else \
(RADAR_START_ADDR + RADAR_MSG_COUNT - 1)
self.track_id = 0
@@ -66,9 +74,11 @@ class RadarInterface(RadarInterfaceBase):
ret.errors = errors
if self.enhanced_scc or self.camera_scc:
msg_src = "ESCC" if self.enhanced_scc else "SCC11"
msg_src = "ESCC" if self.enhanced_scc else \
"SCC_CONTROL" if self.CP.carFingerprint in CANFD_CAR else \
"SCC11"
msg = self.rcp.vl[msg_src]
valid = msg['ACC_ObjStatus']
valid = msg['ObjValid']
for ii in range(1):
if valid:
if ii not in self.pts: