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83 lines
3.1 KiB
83 lines
3.1 KiB
from opendbc.can.packer import CANPacker
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from common.realtime import DT_CTRL
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from selfdrive.car import apply_toyota_steer_torque_limits
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from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
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from selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.apply_steer_last = 0
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self.frame = 0
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self.hud_count = 0
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self.last_lkas_falling_edge = 0
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self.lkas_control_bit_prev = False
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self.last_button_frame = 0
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self.packer = CANPacker(dbc_name)
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self.params = CarControllerParams(CP)
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def update(self, CC, CS, now_nanos):
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can_sends = []
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lkas_active = CC.latActive and self.lkas_control_bit_prev
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# cruise buttons
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if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
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das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
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# ACC cancellation
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if CC.cruiseControl.cancel:
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self.last_button_frame = self.frame
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can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
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# ACC resume from standstill
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elif CC.cruiseControl.resume:
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self.last_button_frame = self.frame
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can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
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# HUD alerts
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if self.frame % 25 == 0:
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if CS.lkas_car_model != -1:
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can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
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self.hud_count += 1
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# steering
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if self.frame % self.params.STEER_STEP == 0:
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# TODO: can we make this more sane? why is it different for all the cars?
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lkas_control_bit = self.lkas_control_bit_prev
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if CS.out.vEgo > self.CP.minSteerSpeed:
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lkas_control_bit = True
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elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
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lkas_control_bit = False
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elif self.CP.carFingerprint in RAM_CARS:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
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lkas_control_bit = False
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# EPS faults if LKAS re-enables too quickly
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lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
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if not lkas_control_bit and self.lkas_control_bit_prev:
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self.last_lkas_falling_edge = self.frame
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self.lkas_control_bit_prev = lkas_control_bit
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# steer torque
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new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
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if not lkas_active or not lkas_control_bit:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
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self.frame += 1
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new_actuators = CC.actuators.copy()
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new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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return new_actuators, can_sends
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