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42 lines
1.5 KiB
42 lines
1.5 KiB
2 weeks ago
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from opendbc.can.packer import CANPacker
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from opendbc.car import Bus
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from opendbc.car.lateral import apply_std_steer_angle_limits
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.psa.psacan import create_lka_steering
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from opendbc.car.psa.values import CarControllerParams
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP):
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super().__init__(dbc_names, CP)
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self.packer = CANPacker(dbc_names[Bus.main])
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self.apply_angle_last = 0
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self.status = 2
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def update(self, CC, CS, now_nanos):
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can_sends = []
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actuators = CC.actuators
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# lateral control
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if self.frame % 5 == 0:
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apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
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CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
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# EPS disengages on steering override, activation sequence 2->3->4 to re-engage
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# STATUS - 0: UNAVAILABLE, 1: UNSELECTED, 2: READY, 3: AUTHORIZED, 4: ACTIVE
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if not CC.latActive:
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self.status = 2
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elif not CS.eps_active and not CS.out.steeringPressed:
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self.status = 2 if self.status == 4 else self.status + 1
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else:
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self.status = 4
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can_sends.append(create_lka_steering(self.packer, CC.latActive, apply_angle, self.status))
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self.apply_angle_last = apply_angle
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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self.frame += 1
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return new_actuators, can_sends
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