Merge pull request commaai#162 from xx979xx/HKG_6.4

LDWS improve

selfdrive/car/hyundai/carcontroller.py

@@ -19,13 +19,13 @@ class SteerLimitParams:
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def process_hud_alert(visual_alert, car_fingerprint):
+def process_hud_alert(enabled, fingerprint, visual_alert, left_line,
+                       right_line, left_lane_depart, right_lane_depart):
   if visual_alert == VisualAlert.steerRequired:
-    return 5 if car_fingerprint in [CAR.SANTA_FE, CAR.SANTA_FE_1] else 4
+    hud_alert 5 if fingerprint in [CAR.SANTA_FE, CAR.SANTA_FE_1] else 4
   else:
-    return 0
+    hud_alert 0
 
-def process_lane_visible(enabled, left_line, right_line, hud_alert):
   # initialize to no line visible
   lane_visible = 1
   if left_line and right_line or hud_alert:
@@ -38,7 +38,15 @@ def process_lane_visible(enabled, left_line, right_line, hud_alert):
   elif right_line:
     lane_visible = 6
 
-  return lane_visible
+  # initialize to no warnings
+  left_lane_warning = 0
+  right_lane_warning = 0
+  if left_lane_depart:
+    left_lane_warning = 1 if fingerprint in [CAR.GENESIS , CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+  if right_lane_depart:
+    right_lane_warning = 1 if fingerprint in [CAR.GENESIS , CAR.GENESIS_G90, CAR.GENESIS_G80] else 2
+
+  return hud_alert, lane_visible, left_lane_warning, right_lane_warning
 
 class CarController(object):
   def __init__(self, dbc_name, car_fingerprint):
@@ -69,8 +77,9 @@ def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert,
 
     self.apply_steer_last = apply_steer
 
-    hud_alert = process_hud_alert(visual_alert, self.car_fingerprint)
-    lane_visible = process_lane_visible(enabled, left_line, right_line, hud_alert)
+    hud_alert, lane_visible, left_lane_warning, right_lane_warning =\
+            process_hud_alert(enabled, self.car_fingerprint, visual_alert,
+            left_line, right_line,left_lane_depart, right_lane_depart)
 
     can_sends = []