Hyundai: clean up CarInterface apply function (#24000)

* clean up Hyundai CarController

* remove

Author: sshane

selfdrive/car/hyundai/carcontroller.py

@@ -11,83 +11,85 @@
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
 
-def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
-                      right_lane, left_lane_depart, right_lane_depart):
-  sys_warning = (visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw))
+def process_hud_alert(enabled, fingerprint, hud_control):
+  sys_warning = (hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw))
 
   # initialize to no line visible
   sys_state = 1
-  if left_lane and right_lane or sys_warning:  # HUD alert only display when LKAS status is active
+  if hud_control.leftLaneVisible and hud_control.rightLaneVisible or sys_warning:  # HUD alert only display when LKAS status is active
     sys_state = 3 if enabled or sys_warning else 4
-  elif left_lane:
+  elif hud_control.leftLaneVisible:
     sys_state = 5
-  elif right_lane:
+  elif hud_control.rightLaneVisible:
     sys_state = 6
 
   # initialize to no warnings
   left_lane_warning = 0
   right_lane_warning = 0
-  if left_lane_depart:
+  if hud_control.leftLaneDepart:
     left_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
-  if right_lane_depart:
+  if hud_control.rightLaneDepart:
     right_lane_warning = 1 if fingerprint in (CAR.GENESIS_G90, CAR.GENESIS_G80) else 2
 
   return sys_warning, sys_state, left_lane_warning, right_lane_warning
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
-    self.p = CarControllerParams(CP)
+    self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
     self.steer_rate_limited = False
     self.last_resume_frame = 0
     self.accel = 0
 
-  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_speed,
-             left_lane, right_lane, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
+
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.p.STEER_MAX))
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
     self.steer_rate_limited = new_steer != apply_steer
 
-    if not c.latActive:
+    if not CC.latActive:
       apply_steer = 0
 
     self.apply_steer_last = apply_steer
 
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = \
-      process_hud_alert(c.enabled, self.car_fingerprint, visual_alert,
-                        left_lane, right_lane, left_lane_depart, right_lane_depart)
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
+                                                                                      hud_control)
 
     can_sends = []
 
     # tester present - w/ no response (keeps radar disabled)
     if self.CP.openpilotLongitudinalControl:
-      if (frame % 100) == 0:
+      if self.frame % 100 == 0:
         can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
 
-    can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, c.latActive,
-                                   CS.lkas11, sys_warning, sys_state, c.enabled,
-                                   left_lane, right_lane,
+    can_sends.append(create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, CC.latActive,
+                                   CS.lkas11, sys_warning, sys_state, CC.enabled,
+                                   hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                    left_lane_warning, right_lane_warning))
 
     if not self.CP.openpilotLongitudinalControl:
       if pcm_cancel_cmd:
-        can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
+        can_sends.append(create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
       elif CS.out.cruiseState.standstill:
         # send resume at a max freq of 10Hz
-        if (frame - self.last_resume_frame) * DT_CTRL > 0.1:
+        if (self.frame - self.last_resume_frame) * DT_CTRL > 0.1:
           # send 25 messages at a time to increases the likelihood of resume being accepted
-          can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
-          self.last_resume_frame = frame
+          can_sends.extend([create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+          self.last_resume_frame = self.frame
 
-    if frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
       lead_visible = False
-      accel = actuators.accel if c.longActive else 0
+      accel = actuators.accel if CC.longActive else 0
 
       jerk = clip(2.0 * (accel - CS.out.aEgo), -12.7, 12.7)
 
@@ -97,28 +99,29 @@ def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, hud_spee
       accel = clip(accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
 
       stopping = (actuators.longControlState == LongCtrlState.stopping)
-      set_speed_in_units = hud_speed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
-      can_sends.extend(create_acc_commands(self.packer, c.enabled, accel, jerk, int(frame / 2), lead_visible,
+      set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_MPH if CS.clu11["CF_Clu_SPEED_UNIT"] == 1 else CV.MS_TO_KPH)
+      can_sends.extend(create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2), lead_visible,
                                            set_speed_in_units, stopping, CS.out.gasPressed))
       self.accel = accel
 
     # 20 Hz LFA MFA message
-    if frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                   CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
-                                                   CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                   CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
-      can_sends.append(create_lfahda_mfc(self.packer, c.enabled))
+    if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
+                                                        CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
+                                                        CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
+                                                        CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
+      can_sends.append(create_lfahda_mfc(self.packer, CC.enabled))
 
     # 5 Hz ACC options
-    if frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
       can_sends.extend(create_acc_opt(self.packer))
 
     # 2 Hz front radar options
-    if frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
+    if self.frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
       can_sends.append(create_frt_radar_opt(self.packer))
 
     new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / self.p.STEER_MAX
+    new_actuators.steer = apply_steer / self.params.STEER_MAX
     new_actuators.accel = self.accel
 
+    self.frame += 1
     return new_actuators, can_sends

selfdrive/car/hyundai/interface.py

@@ -348,9 +348,5 @@ def update(self, c, can_strings):
     return self.CS.out
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators, c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.setSpeed, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
+    ret = self.CC.update(c, self.CS)
     return ret