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Use IntFlag to detect platform

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This commit is contained in:
Jason Wen
2023-02-18 21:11:36 -05:00
parent 1aaf6e9193
commit baa2724316
5 changed files with 27 additions and 24 deletions
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selfdrive/car/hyundai/carcontroller.py
+4 -4
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@@ -5,7 +5,7 @@ from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from selfdrive.car import apply_std_steer_torque_limits
from selfdrive.car.hyundai import hyundaicanfd, hyundaican
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR, CAN_CANFD_CAR
from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -156,7 +156,7 @@ class CarController:
can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
self.last_button_frame = self.frame
else:
if self.car_fingerprint in CAN_CANFD_CAR:
if self.CP.flags & HyundaiFlags.CAN_CANFD:
can_sends.append(hyundaican.create_lkas11_new(self.packer, self.frame, apply_steer, lat_active,
torque_fault, CS.lkas11, CC.enabled,
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
@@ -169,12 +169,12 @@ class CarController:
if not self.CP.openpilotLongitudinalControl:
if CC.cruiseControl.cancel:
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
elif CC.cruiseControl.resume:
# send resume at a max freq of 10Hz
if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
# send 25 messages at a time to increases the likelihood of resume being accepted
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25)
if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
self.last_button_frame = self.frame
selfdrive/car/hyundai/carstate.py
+9 -9
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@@ -7,7 +7,7 @@ from common.conversions import Conversions as CV
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.hyundai.hyundaicanfd import get_e_can_bus
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams, CAN_CANFD_CAR
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
from selfdrive.car.interfaces import CarStateBase
PREV_BUTTON_SAMPLES = 8
@@ -134,7 +134,7 @@ class CarState(CarStateBase):
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
if not self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in CAN_CANFD_CAR:
if not self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.CAN_CANFD.value):
aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
@@ -302,10 +302,10 @@ class CarState(CarStateBase):
("WHL_SPD11", 50),
("SAS11", 100),
]
freq_mdps12 = 100 if CP.carFingerprint in CAN_CANFD_CAR else 50
freq_mdps12 = 100 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
checks.append(("MDPS12", freq_mdps12))
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in (CAMERA_SCC_CAR | CAN_CANFD_CAR):
if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR and not (CP.flags & HyundaiFlags.CAN_CANFD.value):
signals += [
("MainMode_ACC", "SCC11"),
("VSetDis", "SCC11"),
@@ -331,7 +331,7 @@ class CarState(CarStateBase):
("CF_VSM_Warn", "SCC12"),
("CF_VSM_DecCmdAct", "SCC12"),
]
elif CP.carFingerprint in CAN_CANFD_CAR:
elif CP.flags & HyundaiFlags.CAN_CANFD.value:
signals += [
("MainMode_ACC", "SCC12"),
("VSetDis", "SCC12"),
@@ -348,7 +348,7 @@ class CarState(CarStateBase):
("CF_Lca_IndLeft", "LCA11"),
("CF_Lca_IndRight", "LCA11"),
]
freq_lca11 = 20 if CP.carFingerprint in CAN_CANFD_CAR else 50
freq_lca11 = 20 if CP.flags & HyundaiFlags.CAN_CANFD.value else 50
checks.append(("LCA11", freq_lca11))
if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
@@ -379,7 +379,7 @@ class CarState(CarStateBase):
signals.append(("CF_Lvr_Gear", "LVR12"))
checks.append(("LVR12", 100))
bus = 4 if CP.carFingerprint in CAN_CANFD_CAR else 0
bus = 4 if CP.flags & HyundaiFlags.CAN_CANFD.value else 0
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
@staticmethod
@@ -394,7 +394,7 @@ class CarState(CarStateBase):
("CF_Lkas_LdwsRHWarning", "LKAS11"),
("CF_Lkas_FcwOpt_USM", "LKAS11"),
]
if CP.carFingerprint not in CAN_CANFD_CAR:
if CP.flags & HyundaiFlags.CAN_CANFD.value:
signals += [
("CF_Lkas_LdwsSysState", "LKAS11"),
("CF_Lkas_SysWarning", "LKAS11"),
@@ -439,7 +439,7 @@ class CarState(CarStateBase):
("CF_VSM_DecCmdAct", "SCC12"),
]
bus = 6 if CP.carFingerprint in CAN_CANFD_CAR else 2
bus = 6 if CP.flags & HyundaiFlags.CAN_CANFD.value else 2
return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
@staticmethod
selfdrive/car/hyundai/hyundaican.py
+3 -3
View File
@@ -1,5 +1,5 @@
import crcmod
from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR, CAN_CANFD_CAR
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, CHECKSUM, CAMERA_SCC_CAR
hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
@@ -99,12 +99,12 @@ def create_lkas11_new(packer, frame, apply_steer, steer_req,
return packer.make_can_msg("LKAS11", 4, values)
def create_clu11(packer, frame, clu11, button, car_fingerprint):
def create_clu11(packer, frame, clu11, button, CP):
values = clu11
values["CF_Clu_CruiseSwState"] = button
values["CF_Clu_AliveCnt1"] = frame % 0x10
# send buttons to camera on camera-scc based cars
bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 4 if car_fingerprint in CAN_CANFD_CAR else 0
bus = 2 if CP.carFingerprint in CAMERA_SCC_CAR else 4 if CP.flags & HyundaiFlags.CAN_CANFD else 0
return packer.make_can_msg("CLU11", bus, values)
selfdrive/car/hyundai/interface.py
+10 -5
View File
@@ -2,7 +2,7 @@
from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, CAN_CANFD_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@@ -44,8 +44,13 @@ class CarInterface(CarInterfaceBase):
if candidate not in CANFD_RADAR_SCC_CAR:
ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
else:
# detect platforms with HKG CAN and CAN-FD definitions
if 0x50 in fingerprint[5]:
ret.flags |= HyundaiFlags.CAN_CANFD.value
# Send LFA message on cars with HDA
if 0x485 in fingerprint[2]:
lfahda_bus = 6 if ret.flags & HyundaiFlags.CAN_CANFD.value else 2
if 0x485 in fingerprint[lfahda_bus]:
ret.flags |= HyundaiFlags.SEND_LFA.value
# These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
@@ -234,7 +239,7 @@ class CarInterface(CarInterfaceBase):
else:
ret.longitudinalTuning.kpV = [0.5]
ret.longitudinalTuning.kiV = [0.0]
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR | CAN_CANFD_CAR)
ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR) and not (ret.flags & HyundaiFlags.CAN_CANFD)
ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
ret.pcmCruise = not ret.openpilotLongitudinalControl
@@ -250,7 +255,7 @@ class CarInterface(CarInterfaceBase):
bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
ret.enableBsm = 0x1e5 in fingerprint[bus]
else:
bus = 4 if candidate in CAN_CANFD_CAR else 0
bus = 4 if ret.flags & HyundaiFlags.CAN_CANFD else 0
ret.enableBsm = 0x58b in fingerprint[bus]
# *** panda safety config ***
@@ -264,7 +269,7 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
elif candidate in CAN_CANFD_CAR:
elif ret.flags & HyundaiFlags.CAN_CANFD:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
get_safety_config(car.CarParams.SafetyModel.hyundai)]
ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAN_CANFD
selfdrive/car/hyundai/values.py
+1 -3
View File
@@ -62,6 +62,7 @@ class HyundaiFlags(IntFlag):
CANFD_ALT_GEARS_2 = 64
SEND_LFA = 128
USE_FCA = 256
CAN_CANFD = 512
class CAR:
@@ -1703,9 +1704,6 @@ CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, C
# The camera does SCC on these cars, rather than the radar
CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
# These cars have both CAN and CAN-FD messages
CAN_CANFD_CAR = {CAR.PALISADE_2023, }
HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN} # these cars use a different gas signal
EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5, CAR.GENESIS_GV60_EV_1ST_GEN}