HKG Longitudinal Tuning

[Discountchubbs]

Custom tuning for HKG vehicles, taking into account lower, upper jerk, and comfort bands. When the user selects toggles, these plus interface tuning will be applied. Furthermore, if the user presses the button to enable smoother braking, my custom accel logic will be utilized to greatly filter and smoothen accel/braking transitions for a more chill open pilot experience.

Current issue:
--While CB calculation works excellent to limit rough transitions from acceleration costs, there needs to be changes in the logic.. Zero'd out for now.

Summary by Sourcery

New Features:

• Adds custom longitudinal tuning for Hyundai/Kia vehicles, allowing adjustment of jerk and comfort band parameters.

[sourcery-ai]

Reviewer's Guide by Sourcery

This pull request introduces custom longitudinal tuning for HKG vehicles, allowing for adjustments to jerk limits and comfort bands. It also implements a smoother braking feature using custom acceleration logic to filter and smooth acceleration/braking transitions. The changes involve creating new classes and functions for managing tuning parameters, integrating them into the car controller, and modifying CAN message creation to include the new parameters.

Sequence diagram for longitudinal control update with HKGLongitudinalController

sequenceDiagram
  participant CC as CarController
  participant HKGLC as HKGLongitudinalController
  participant HKGLT as HKGLongitudinalTuning

  CC->HKGLC: update(longControlState, actuators, CS, CP_SP)
  activate HKGLC
  HKGLC->HKGLC: calculate_accel(actuators, CS, CP_SP)
  HKGLC->HKGLC: calculate_and_get_jerk(actuators, CS, longControlState)
  alt HKGLC.tuning is not None
    HKGLC->HKGLT: make_jerk(CS, actuators)
    activate HKGLT
    HKGLT-->HKGLC: jerk_output
    deactivate HKGLT
  else
    HKGLC-->HKGLC: jerk_limit
  end
  HKGLC-->CC: None
  deactivate HKGLC

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Updated class diagram for HKGLongitudinalController

classDiagram
  class HKGLongitudinalController {
    -CP: structs.CarParams
    -tuning: HKGLongitudinalTuning
    -jerk: None
    -jerk_upper: float
    -jerk_lower: float
    -cb_upper: float
    -cb_lower: float
    -accel: float
    +__init__(CP: structs.CarParams, CP_SP: structs.CarParamsSP)
    +apply_tune(CP: structs.CarParams, CP_SP: structs.CarParamsSP)
    +get_jerk(): JerkOutput
    +calculate_and_get_jerk(actuators: structs.CarControl.Actuators, CS: structs.CarState, long_control_state: LongCtrlState): JerkOutput
    +calculate_accel(actuators: structs.CarControl.Actuators, CS: structs.CarState, CP_SP: structs.CarParamsSP): float
    +update(long_control_state: LongCtrlState, actuators: structs.CarControl.Actuators, CS: structs.CarState, CP_SP: structs.CarParamsSP): None
  }
  class HKGLongitudinalTuning {
    -CP: structs.CarParams
    -DT_CTRL: float
    -accel_last: float
    -accel_last_jerk: float
    -jerk: float
    -jerk_count: float
    -jerk_upper_limit: float
    -jerk_lower_limit: float
    -cb_upper: float
    -cb_lower: float
    -last_decel_time: float
    -min_cancel_delay: float
    -car_config: CarTuningConfig
    +__init__(CP: structs.CarParams)
    -_setup_controllers(): None
    -_init_state(): None
    -_setup_car_config(): None
    +make_jerk(CS: structs.CarState, actuators: structs.CarControl.Actuators): float
    +handle_cruise_cancel(CS: structs.CarState): bool
    +calculate_limited_accel(actuators: structs.CarControl.Actuators, CS: structs.CarState): float
    +calculate_accel(actuators: structs.CarControl.Actuators, CS: structs.CarState): float
    +apply_tune(CP: structs.CarParams): None
  }
  class CarTuningConfig {
    -vego_stopping: float
    -vego_starting: float
    -stopping_decel_rate: float
    -start_accel: float
    -jerk_limits: tuple[float, float]
    -brake_response: tuple[float, float, float, float]
    -accel_limits: tuple[float, float]
  }
  class Cartuning {
    +get_car_config(CP: structs.CarParams): CarTuningConfig
  }
  class JerkOutput {
    -jerk_upper_limit: float
    -jerk_lower_limit: float
    -cb_upper: float
    -cb_lower: float
    +__init__(jerk_upper_limit: float, jerk_lower_limit: float, cb_upper: float, cb_lower: float)
  }

  HKGLongitudinalController -- HKGLongitudinalTuning : has
  HKGLongitudinalTuning -- CarTuningConfig : uses
  HKGLongitudinalController -- JerkOutput : returns
  Cartuning -- CarTuningConfig : returns

  note for HKGLongitudinalController "This class manages the longitudinal control with custom tuning."
  note for HKGLongitudinalTuning "This class handles the longitudinal tuning logic."
  note for CarTuningConfig "This class holds the tuning parameters for different car types."
  note for Cartuning "This class provides the car-specific tuning configurations."
  note for JerkOutput "This class represents the output of jerk calculation."

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File-Level Changes

Change	Details	Files
Introduces a new class HKGLongitudinalController to manage longitudinal tuning for HKG vehicles, including jerk limits and comfort bands.	Adds HKGLongitudinalController to CarController's inheritance list. Initializes HKGLongitudinalController in CarController's constructor. Calls HKGLongitudinalController.update in CarController.update to apply longitudinal control logic. Passes jerk limits and comfort band values from HKGLongitudinalController to create_acc_commands for CAN message creation.	opendbc/car/hyundai/carcontroller.py
Modifies create_acc_commands in hyundaican.py to accept jerk limits and comfort band parameters.	Updates the function signature of create_acc_commands to include jerk_upper, jerk_lower, cb_upper, and cb_lower. Passes these new parameters to get_scc14_values for inclusion in the CAN message. Updates the get_scc14_values function to use the passed-in jerk limit and comfort band values.	opendbc/car/hyundai/hyundaican.py
Updates create_acc_control in hyundaicanfd.py to include jerk limits in the CAN message.	Updates the function signature of create_acc_control to include jerk_upper and jerk_lower. Passes these new parameters to the CAN message values.	opendbc/car/hyundai/hyundaicanfd.py
Adds a new flag HKGLONGTUNING to HyundaiFlagsSP and integrates HKGLongitudinalController into the car interface.	Adds HKGLONGTUNING and HKGLONGTUNING_BRAKING to the HyundaiFlagsSP enum. Initializes and applies tuning from HKGLongitudinalController in _get_params if HKGLONGTUNING is enabled. Adds CP_SP to CarParams struct.	opendbc/car/hyundai/interface.py opendbc/car/interfaces.py opendbc/sunnypilot/car/hyundai/values.py
Introduces a new module longitudinal_config.py to manage car-specific longitudinal tuning parameters.	Defines a CarTuningConfig dataclass to hold longitudinal tuning parameters. Creates default tuning configurations for EV, Hybrid, and ICE vehicles. Creates car-specific configurations overriding the defaults. Implements a get_car_config method to retrieve the appropriate configuration based on car fingerprint and flags.	opendbc/sunnypilot/car/hyundai/longitudinal_config.py
Implements HKGLongitudinalTuning and HKGLongitudinalController classes for managing and applying longitudinal tuning.	Creates HKGLongitudinalTuning class to handle longitudinal tuning logic, including jerk calculation and adaptive acceleration limiting. Creates HKGLongitudinalController class to integrate the tuning logic into the car controller. Adds methods to calculate and apply jerk limits, comfort bands, and acceleration limits based on car-specific configurations. Adds logic to handle cruise control cancel to prevent faults.	opendbc/sunnypilot/car/hyundai/longitudinal_tuning.py
Adds interpolation utilities for vehicle dynamics.	Adds catmull_rom_interp function for 1D Catmull-Rom interpolation. Adds makima_interp function for Modified Akima interpolation.	opendbc/sunnypilot/interpolation_utils.py

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