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76 lines
2.5 KiB
76 lines
2.5 KiB
from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_lkas12, \
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create_1191, create_1156, \
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create_clu11
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from selfdrive.car.hyundai.values import Buttons
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from selfdrive.can.packer import CANPacker
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# Steer torque limits
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class SteerLimitParams:
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STEER_MAX = 250 # 409 is the max
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STEER_DELTA_UP = 3
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STEER_DELTA_DOWN = 7
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STEER_DRIVER_ALLOWANCE = 50
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STEER_DRIVER_MULTIPLIER = 2
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STEER_DRIVER_FACTOR = 1
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class CarController(object):
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def __init__(self, dbc_name, car_fingerprint, enable_camera):
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self.apply_steer_last = 0
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self.car_fingerprint = car_fingerprint
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self.lkas11_cnt = 0
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self.cnt = 0
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self.last_resume_cnt = 0
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self.enable_camera = enable_camera
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# True when giraffe switch 2 is low and we need to replace all the camera messages
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# otherwise we forward the camera msgs and we just replace the lkas cmd signals
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self.camera_disconnected = False
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self.packer = CANPacker(dbc_name)
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def update(self, sendcan, enabled, CS, actuators, pcm_cancel_cmd, hud_alert):
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if not self.enable_camera:
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return
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### Steering Torque
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apply_steer = actuators.steer * SteerLimitParams.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(apply_steer, self.apply_steer_last, CS.steer_torque_driver, SteerLimitParams)
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if not enabled:
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apply_steer = 0
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steer_req = 1 if enabled else 0
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self.apply_steer_last = apply_steer
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can_sends = []
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self.lkas11_cnt = self.cnt % 0x10
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self.clu11_cnt = self.cnt % 0x10
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if self.camera_disconnected:
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if (self.cnt % 10) == 0:
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can_sends.append(create_lkas12())
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if (self.cnt % 50) == 0:
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can_sends.append(create_1191())
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if (self.cnt % 7) == 0:
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can_sends.append(create_1156())
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can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
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enabled, CS.lkas11, hud_alert, keep_stock=(not self.camera_disconnected)))
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
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elif CS.stopped and (self.cnt - self.last_resume_cnt) > 5:
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self.last_resume_cnt = self.cnt
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
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### Send messages to canbus
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sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
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self.cnt += 1
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