sadmen
/
jyoung
mirror of https://github.com/jyoung8607/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

cars: cleanup CS usage (#23957)

Browse Source 
old-commit-hash: 2219cb4478
vw-mqb-aeb
Adeeb Shihadeh 3 years ago committed by GitHub
parent 568e465098
commit b74dac6080
7 changed files with 49 additions and 42 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 7
      selfdrive/car/chrysler/carcontroller.py
  2. 35
      selfdrive/car/honda/carcontroller.py
  3. 11
      selfdrive/car/hyundai/carcontroller.py
  4. 7
      selfdrive/car/mazda/carcontroller.py
  5. 5
      selfdrive/car/subaru/carcontroller.py
  6. 23
      selfdrive/car/toyota/carcontroller.py
  7. 3
      selfdrive/car/volkswagen/carcontroller.py

7
selfdrive/car/chrysler/carcontroller.py
Unescape View File

@ -7,6 +7,7 @@ from opendbc.can.packer import CANPacker
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1
@ -29,11 +30,11 @@ class CarController():
CS.out.steeringTorqueEps, CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed # for status message
if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5): # for command high bit
moving_fast = CS.out.vEgo > self.CP.minSteerSpeed # for status message
if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5): # for command high bit
self.gone_fast_yet = True
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled

35
selfdrive/car/honda/carcontroller.py
Unescape View File

@ -98,6 +98,7 @@ HUDData = namedtuple("HUDData",
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
@ -119,13 +120,13 @@ class CarController():
if c.longActive:
accel = actuators.accel
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, CS.CP.carFingerprint)
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
else:
accel = 0.0
gas, brake = 0.0, 0.0
# *** apply brake hysteresis ***
pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, CS.CP.carFingerprint)
pre_limit_brake, self.braking, self.brake_steady = actuator_hystereses(brake, self.braking, self.brake_steady, CS.out.vEgo, self.CP.carFingerprint)
# *** rate limit after the enable check ***
self.brake_last = rate_limit(pre_limit_brake, self.brake_last, -2., DT_CTRL)
@ -156,14 +157,14 @@ class CarController():
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if CS.CP.carFingerprint in HONDA_BOSCH and CS.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
if (frame % 10) == 0:
can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
# Send steering command.
idx = frame % 4
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer,
c.latActive, CS.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
c.latActive, self.CP.carFingerprint, idx, CS.CP.openpilotLongitudinalControl))
stopping = actuators.longControlState == LongCtrlState.stopping
@ -178,10 +179,10 @@ class CarController():
0.5]
# The Honda ODYSSEY seems to have different PCM_ACCEL
# msgs, is it other cars too?
if CS.CP.enableGasInterceptor:
if self.CP.enableGasInterceptor:
pcm_speed = 0.0
pcm_accel = int(0.0)
elif CS.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
elif self.CP.carFingerprint in HONDA_NIDEC_ALT_PCM_ACCEL:
pcm_speed_V = [0.0,
clip(CS.out.vEgo - 3.0, 0.0, 100.0),
clip(CS.out.vEgo + 0.0, 0.0, 100.0),
@ -196,15 +197,15 @@ class CarController():
pcm_speed = interp(gas-brake, pcm_speed_BP, pcm_speed_V)
pcm_accel = int(clip((accel/1.44)/max_accel, 0.0, 1.0) * 0xc6)
if not CS.CP.openpilotLongitudinalControl:
if not self.CP.openpilotLongitudinalControl:
if (frame % 2) == 0:
idx = frame // 2
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, CS.CP.carFingerprint, idx))
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
# If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, CS.CP.carFingerprint))
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
elif CS.out.cruiseState.standstill:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, CS.CP.carFingerprint))
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
else:
# Send gas and brake commands.
@ -212,10 +213,10 @@ class CarController():
idx = frame // 2
ts = frame * DT_CTRL
if CS.CP.carFingerprint in HONDA_BOSCH:
if self.CP.carFingerprint in HONDA_BOSCH:
self.accel = clip(accel, P.BOSCH_ACCEL_MIN, P.BOSCH_ACCEL_MAX)
self.gas = interp(accel, P.BOSCH_GAS_LOOKUP_BP, P.BOSCH_GAS_LOOKUP_V)
can_sends.extend(hondacan.create_acc_commands(self.packer, c.enabled, c.longActive, accel, self.gas, idx, stopping, CS.CP.carFingerprint))
can_sends.extend(hondacan.create_acc_commands(self.packer, c.enabled, c.longActive, accel, self.gas, idx, stopping, self.CP.carFingerprint))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * P.NIDEC_BRAKE_MAX, 0, P.NIDEC_BRAKE_MAX - 1))
@ -223,11 +224,11 @@ class CarController():
pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, fcw_display, idx, CS.CP.carFingerprint, CS.stock_brake))
pcm_override, pcm_cancel_cmd, fcw_display, idx, self.CP.carFingerprint, CS.stock_brake))
self.apply_brake_last = apply_brake
self.brake = apply_brake / P.NIDEC_BRAKE_MAX
if CS.CP.enableGasInterceptor:
if self.CP.enableGasInterceptor:
# way too aggressive at low speed without this
gas_mult = interp(CS.out.vEgo, [0., 10.], [0.4, 1.0])
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
@ -245,12 +246,12 @@ class CarController():
idx = (frame//10) % 4
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_car,
hud_lanes, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, CS.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud))
if (CS.CP.openpilotLongitudinalControl) and (CS.CP.carFingerprint not in HONDA_BOSCH):
if (self.CP.openpilotLongitudinalControl) and (self.CP.carFingerprint not in HONDA_BOSCH):
self.speed = pcm_speed
if not CS.CP.enableGasInterceptor:
if not self.CP.enableGasInterceptor:
self.gas = pcm_accel / 0xc6
new_actuators = actuators.copy()

11
selfdrive/car/hyundai/carcontroller.py
Unescape View File

@ -37,6 +37,7 @@ def process_hud_alert(enabled, fingerprint, visual_alert, left_lane,
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.p = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
@ -65,7 +66,7 @@ class CarController():
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if CS.CP.openpilotLongitudinalControl:
if self.CP.openpilotLongitudinalControl:
if (frame % 100) == 0:
can_sends.append([0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
@ -74,7 +75,7 @@ class CarController():
left_lane, right_lane,
left_lane_warning, right_lane_warning))
if not CS.CP.openpilotLongitudinalControl:
if not self.CP.openpilotLongitudinalControl:
if pcm_cancel_cmd:
can_sends.append(create_clu11(self.packer, frame, CS.clu11, Buttons.CANCEL))
elif CS.out.cruiseState.standstill:
@ -84,7 +85,7 @@ class CarController():
can_sends.extend([create_clu11(self.packer, frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
self.last_resume_frame = frame
if frame % 2 == 0 and CS.CP.openpilotLongitudinalControl:
if frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
lead_visible = False
accel = actuators.accel if c.longActive else 0
@ -109,11 +110,11 @@ class CarController():
can_sends.append(create_lfahda_mfc(self.packer, c.enabled))
# 5 Hz ACC options
if frame % 20 == 0 and CS.CP.openpilotLongitudinalControl:
if frame % 20 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.extend(create_acc_opt(self.packer))
# 2 Hz front radar options
if frame % 50 == 0 and CS.CP.openpilotLongitudinalControl:
if frame % 50 == 0 and self.CP.openpilotLongitudinalControl:
can_sends.append(create_frt_radar_opt(self.packer))
new_actuators = actuators.copy()

7
selfdrive/car/mazda/carcontroller.py
Unescape View File

@ -8,6 +8,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.packer = CANPacker(dbc_name)
self.steer_rate_limited = False
@ -30,7 +31,7 @@ class CarController():
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
# TODO: improve the resume trigger logic by looking at actual radar data
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
if c.cruiseControl.cancel:
# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
@ -41,7 +42,7 @@ class CarController():
if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
@ -56,7 +57,7 @@ class CarController():
can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
# send steering command
can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
frame, apply_steer, CS.cam_lkas))
new_actuators = c.actuators.copy()

5
selfdrive/car/subaru/carcontroller.py
Unescape View File

@ -6,6 +6,7 @@ from opendbc.can.packer import CANPacker
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.es_distance_cnt = -1
self.es_lkas_cnt = -1
@ -33,7 +34,7 @@ class CarController():
if not c.latActive:
apply_steer = 0
if CS.CP.carFingerprint in PREGLOBAL_CARS:
if self.CP.carFingerprint in PREGLOBAL_CARS:
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
else:
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
@ -43,7 +44,7 @@ class CarController():
# *** alerts and pcm cancel ***
if CS.CP.carFingerprint in PREGLOBAL_CARS:
if self.CP.carFingerprint in PREGLOBAL_CARS:
if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
# disengage ACC when OP is disengaged

23
selfdrive/car/toyota/carcontroller.py
Unescape View File

@ -12,6 +12,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.frame = 0
self.last_steer = 0
self.alert_active = False
@ -29,12 +30,12 @@ class CarController:
pcm_cancel_cmd = CC.cruiseControl.cancel
# gas and brake
if CS.CP.enableGasInterceptor and CC.longActive:
if self.CP.enableGasInterceptor and CC.longActive:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif CS.CP.carFingerprint in (CAR.COROLLA,):
elif self.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
@ -64,7 +65,7 @@ class CarController:
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
@ -82,7 +83,7 @@ class CarController:
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame))
if self.frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
@ -91,19 +92,19 @@ class CarController:
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
elif self.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type))
self.accel = pcm_accel_cmd
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type))
if self.frame % 2 == 0 and CS.CP.enableGasInterceptor and CS.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
@ -129,12 +130,12 @@ class CarController:
hud_control.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled))
if self.frame % 100 == 0 and CS.CP.enableDsu:
if self.frame % 100 == 0 and self.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
if self.frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
new_actuators = actuators.copy()

3
selfdrive/car/volkswagen/carcontroller.py
Unescape View File

@ -9,6 +9,7 @@ VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController():
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.CP = CP
self.packer_pt = CANPacker(DBC_FILES.mqb)
@ -86,7 +87,7 @@ class CarController():
# FIXME: this entire section is in desperate need of refactoring
if CS.CP.pcmCruise:
if self.CP.pcmCruise:
if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
if c.cruiseControl.cancel:
# Cancel ACC if it's engaged with OP disengaged.

Write Preview
Loading…
Cancel
Save