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Subaru: show LDW on dash for correct lane (#20934)

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* Emit correct alerts for LDW Left & Right on Subarus

This change switches the ldw event to use VisualAlert.ldw and
alters all cars to use the prior behaviour for that alert, except
global subarus - they emit the correct warning to the dash

* Remove whitespace, and add comment about not overwriting stock alerts

Co-authored-by: Crispin Flowerday <crispin@theflowerdays.com>
old-commit-hash: 7458e143e3
This commit is contained in:
CrispinFlowerday
2021-06-07 15:06:28 -07:00
committed by GitHub
parent c2875eea66
commit 4f02e178db
13 changed files with 24 additions and 13 deletions
Download Patch File Download Diff File Expand all files Collapse all files
selfdrive/car/chrysler/chryslercan.py
+1 -1
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@@ -8,7 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
# LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
if hud_alert == VisualAlert.steerRequired:
if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
return make_can_msg(0x2a6, msg, 0)
selfdrive/car/ford/carcontroller.py
+2 -1
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@@ -4,6 +4,7 @@ from selfdrive.car import make_can_msg
from selfdrive.car.ford.fordcan import create_steer_command, create_lkas_ui, spam_cancel_button
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
MAX_STEER_DELTA = 1
TOGGLE_DEBUG = False
@@ -22,7 +23,7 @@ class CarController():
def update(self, enabled, CS, frame, actuators, visual_alert, pcm_cancel):
can_sends = []
steer_alert = visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired
steer_alert = visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
apply_steer = actuators.steer
selfdrive/car/gm/carcontroller.py
+1 -1
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@@ -100,7 +100,7 @@ class CarController():
lka_critical = lka_active and abs(actuators.steer) > 0.9
lka_icon_status = (lka_active, lka_critical)
if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
steer_alert = hud_alert == VisualAlert.steerRequired
steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
self.lka_icon_status_last = lka_icon_status
selfdrive/car/honda/carcontroller.py
+1 -1
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@@ -62,7 +62,7 @@ def process_hud_alert(hud_alert):
# priority is: FCW, steer required, all others
if hud_alert == VisualAlert.fcw:
fcw_display = VISUAL_HUD[hud_alert.raw]
elif hud_alert == VisualAlert.steerRequired:
elif hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
steer_required = VISUAL_HUD[hud_alert.raw]
else:
acc_alert = VISUAL_HUD[hud_alert.raw]
selfdrive/car/honda/values.py
+1
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@@ -28,6 +28,7 @@ VISUAL_HUD = {
VisualAlert.none: 0,
VisualAlert.fcw: 1,
VisualAlert.steerRequired: 1,
VisualAlert.ldw: 1,
VisualAlert.brakePressed: 10,
VisualAlert.wrongGear: 6,
VisualAlert.seatbeltUnbuckled: 5,
selfdrive/car/hyundai/carcontroller.py
+1 -1
View File
@@ -10,7 +10,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
right_lane, left_lane_depart, right_lane_depart):
sys_warning = (visual_alert == VisualAlert.steerRequired)
sys_warning = (visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw])
# initialize to no line visible
sys_state = 1
selfdrive/car/nissan/carcontroller.py
+1 -1
View File
@@ -31,7 +31,7 @@ class CarController():
lkas_hud_info_msg = CS.lkas_hud_info_msg
apply_angle = actuators.steeringAngleDeg
steer_hud_alert = 1 if hud_alert == VisualAlert.steerRequired else 0
steer_hud_alert = 1 if hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw] else 0
if enabled:
# # windup slower
selfdrive/car/subaru/carcontroller.py
+2 -2
View File
@@ -15,7 +15,7 @@ class CarController():
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
can_sends = []
@@ -69,7 +69,7 @@ class CarController():
self.es_distance_cnt = CS.es_distance_msg["Counter"]
if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
return can_sends
selfdrive/car/subaru/interface.py
+1 -1
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@@ -122,6 +122,6 @@ class CarInterface(CarInterfaceBase):
def apply(self, c):
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
self.frame += 1
return can_sends
selfdrive/car/subaru/subarucan.py
+9 -1
View File
@@ -27,12 +27,20 @@ def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
return packer.make_can_msg("ES_Distance", 0, values)
def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line):
def create_es_lkas(packer, es_lkas_msg, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
values = copy.copy(es_lkas_msg)
if visual_alert == VisualAlert.steerRequired:
values["Keep_Hands_On_Wheel"] = 1
# Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
if left_lane_depart:
values["LKAS_Alert"] = 12 # Left lane departure dash alert
elif right_lane_depart:
values["LKAS_Alert"] = 11 # Right lane departure dash alert
values["LKAS_Left_Line_Visible"] = int(left_line)
values["LKAS_Right_Line_Visible"] = int(right_line)
selfdrive/car/toyota/carcontroller.py
+1 -1
View File
@@ -135,7 +135,7 @@ class CarController():
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert == VisualAlert.steerRequired
steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
selfdrive/car/volkswagen/carcontroller.py
+2 -1
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@@ -4,6 +4,7 @@ from selfdrive.car.volkswagen import volkswagencan
from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController():
def __init__(self, dbc_name, CP, VM):
@@ -110,7 +111,7 @@ class CarController():
# filters LDW_02 from the factory camera and OP emits LDW_02 at 10Hz.
if frame % P.LDW_STEP == 0:
if visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired:
if visual_alert in [VisualAlert.steerRequired, VisualAlert.ldw]:
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
else:
hud_alert = MQB_LDW_MESSAGES["none"]
selfdrive/controls/lib/events.py
+1 -1
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@@ -340,7 +340,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, Callable[[Any, messaging.SubMaster, boo
"TAKE CONTROL",
"Lane Departure Detected",
AlertStatus.userPrompt, AlertSize.mid,
Priority.LOW, VisualAlert.steerRequired, AudibleAlert.chimePrompt, 1., 2., 3.),
Priority.LOW, VisualAlert.ldw, AudibleAlert.chimePrompt, 1., 2., 3.),
},
# ********** events only containing alerts that display while engaged **********