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62 lines
2.3 KiB
62 lines
2.3 KiB
from opendbc.can.packer import CANPacker
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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
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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.steer_rate_limited = False
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self.hud_count = 0
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self.last_lkas_falling_edge = 0
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self.lkas_active_prev = False
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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, low_speed_alert):
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can_sends = []
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# EPS faults if LKAS re-enables too quickly
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lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
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# *** control msgs ***
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das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
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if CC.cruiseControl.cancel:
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can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
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elif CC.enabled and CS.out.cruiseState.standstill:
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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 % 2 == 0:
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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:
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apply_steer = 0
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self.steer_rate_limited = new_steer != apply_steer
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self.apply_steer_last = apply_steer
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idx = self.frame // 2
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can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
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self.frame += 1
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if not lkas_active and self.lkas_active_prev:
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self.last_lkas_falling_edge = self.frame
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self.lkas_active_prev = lkas_active
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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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return new_actuators, can_sends
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