CD210 model, WebCarrotMan, fix SpeedTF

RELEASES.md

@@ -1,3 +1,9 @@
+Carrot2-v9 (2026-02-xx)
+========================
+* CD210 model
+* web carrot_man (http://ip:7000)
+* fix speed based TF
+
 Carrot2-v9 (2026-01-xx)
 ========================
 * WMI model

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -307,7 +307,7 @@ def create_acc_control_scc2(packer, CAN, enabled, accel_last, accel, stopping, g
     a_val, a_raw = 0, 0
   else:
     a_raw = accel
-    a_val = np.clip(accel, accel_last - jn, accel_last + jn)
+    a_val = accel #np.clip(accel, accel_last - jn, accel_last + jn)
 
   values = copy.copy(CS.cruise_info)
   values.pop("COUNTER", None)
@@ -440,6 +440,8 @@ def create_tcs_messages(packer, CAN, CS):
   if CS.tcs_info_373 is not None:
     values = copy.copy(CS.tcs_info_373)
     values["DriverBraking"] = 0
+    values["NEW_SIGNAL_20"] = 0
+    values["NEW_SIGNAL_11"] = 0
     values["DriverBrakingLowSens"] = 0
     #values["NEW_SIGNAL_1"] = 0 # accel과 관련..  옆두부 꺼지는것과 관련? 확인필요
     #values["ACC_REQ"] = 1 # 옆두부 꺼지는것과 관련? 확인필요.. 항상 켜지게함..
@@ -991,7 +993,7 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
           values["ALERTS_3"] = 0
           values["SOUNDS_3"] = 0
 
-        if values["ALERTS_5"] in [1, 2, 4, 5]:
+        if values["ALERTS_5"] in [1, 2, 3, 4, 5]:
           values["ALERTS_5"] = 0
 
         if values["ALERTS_5"] in [11] and CS.softHoldActive == 0:
@@ -1002,13 +1004,13 @@ def create_ccnc_messages(CP, packer, CAN, frame, CC, CS, hud_control,
         values["LANELINE_CURVATURE"] = (min(abs(curvature), 15) + (-1 if curvature < 0 else 0)) if lat_active else 0
         values["LANELINE_CURVATURE_DIRECTION"] = 1 if curvature < 0 and lat_active else 0
 
-        lane_color = 2 if CS.out.leftLaneLine < 20 else 4
+        lane_color = 4 if CS.out.leftLaneLine >= 20 or CS.out.leftBlindspot else 2
         if hud_control.leftLaneDepart:
           values["LANELINE_LEFT"] = 4 if (frame // 50) % 2 == 0 else 1
         else:
           values["LANELINE_LEFT"] = lane_color if hud_control.leftLaneVisible else 0
 
-        lane_color = 2 if CS.out.rightLaneLine < 20 else 4
+        lane_color = 4 if CS.out.rightLaneLine >= 20 or CS.out.rightBlindspot else 2
         if hud_control.rightLaneDepart:
           values["LANELINE_RIGHT"] = 4 if (frame // 50) % 2 == 0 else 1
         else:

selfdrive/carrot/carrot_functions.py

@@ -205,11 +205,20 @@ def get_T_FOLLOW(self, personality=log.LongitudinalPersonality.standard, v_ego=0
                                   [self.tFollowGap1, self.tFollowGap2, self.tFollowGap3, self.tFollowGap4]))
 
       self.jerk_factor = float(np.interp(v_kph, bp, [1.0, 0.7, 0.5, 0.5]))
+      """
       personality = int(np.clip(np.digitize(v_kph, bp[1:], right=False), 0, 3))
-
       if self.params_count % 100 == 0:
         self.params.put_int_nonblocking("LongitudinalPersonality", personality)
         self.personality = personality
+      """
+      if personality == log.LongitudinalPersonality.moreRelaxed:
+        tf_target *= 2.0
+      elif personality == log.LongitudinalPersonality.relaxed:
+        tf_target *= 1.6
+      elif personality == log.LongitudinalPersonality.standard:
+        tf_target *= 1.3
+      elif personality == log.LongitudinalPersonality.aggressive:
+        tf_target *= 1.0
 
     else:
       tf_target = 1.0
@@ -233,6 +242,8 @@ def get_T_FOLLOW(self, personality=log.LongitudinalPersonality.standard, v_ego=0
         s = float(np.clip(v_ego * CV.MS_TO_KPH / 100.0, 0.0, 1.0))
         scale = (1.0 - reduce) + reduce * s
         tf_target *= scale
+      else:
+        return tf_target
 
     # ------------------------------------------------------------
     # 2) Decel-hold only (no smoothing constants)

selfdrive/carrot/carrot_man.py

@@ -13,6 +13,10 @@
 
 from ftplib import FTP
 from cereal import log
+import urllib.request
+import urllib.error
+import ssl
+
 import cereal.messaging as messaging
 from openpilot.common.realtime import Ratekeeper
 from openpilot.common.params import Params
@@ -256,6 +260,55 @@ def get_local_ip(self):
       except Exception as e:
           return f"Error: {e}"
 
+  def register_my_ip(self):
+    try:
+      token = "12345678"
+      local_ip = self.get_local_ip()
+      version = self.params.get("Version")
+      github_id = self.params.get("GithubUsername")
+      port = 7000
+      is_onroad = self.params.get_bool("IsOnroad")
+      ts = int(time.time())
+      url = "https://shind0.synology.me/carrot/api_heartbeat.php"
+      timeout_s = 3.5
+      payload = {
+        "github_id": github_id,
+        "token": token,
+        "local_ip": local_ip,
+        "port": int(port),
+        "version": version,
+        "is_onroad": bool(is_onroad),
+        "ts": int(time.time()),
+      }
+      #if extra:
+      #  payload.update(extra)
+
+      data = json.dumps(payload).encode("utf-8")
+      print(data)
+      req = urllib.request.Request(
+        url=url,
+        data=data,
+        headers={"Content-Type": "application/json"},
+        method="POST",
+      )
+
+      try:
+        ctx = ssl._create_unverified_context()
+        with urllib.request.urlopen(req, timeout=timeout_s, context=ctx) as resp:
+          body = resp.read().decode("utf-8", errors="replace")
+          # 서버가 {"ok":true} 같은 JSON을 주는 경우가 많음
+          return (200 <= resp.status < 300), body
+      except urllib.error.HTTPError as e:
+        try:
+          body = e.read().decode("utf-8", errors="replace")
+        except Exception:
+          body = ""
+        return False, f"HTTPError {e.code}: {body}"
+      except Exception as e:
+        return False, f"Exception: {e}"     
+    except Exception as e:
+      print(f"register_my_ip error: {e}")
+
   # 브로드캐스트 메시지 전송
   def broadcast_version_info(self):
     sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -302,6 +355,9 @@ def broadcast_version_info(self):
         if carrot_speed_active_count > 0:
           self.carrot_speed_serv(carrot_speed, frame)
 
+        if frame % (20 * 30) == 0:
+          ok, msg = self.register_my_ip()
+          print(f"[heartbeat] ok: {ok}, msg: {msg}")
         if frame % 20 == 0 or remote_addr is not None:
           try:
             self.broadcast_ip = self.get_broadcast_address() if remote_addr is None else remote_addr[0]
@@ -325,7 +381,7 @@ def broadcast_version_info(self):
             #  sock.sendto(dat, address)
 
             if remote_addr is None:
-              print(f"Broadcasting: {self.broadcast_ip}:{msg}")
+              print(f"Broadcasting: {self.broadcast_ip}") #:{msg}")
               if not self.navd_active:
                 #print("clear path_points: navd_active: ", self.navd_active)
                 self.navi_points = []