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56 lines
2.4 KiB
56 lines
2.4 KiB
2 months ago
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import numpy as np
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from opendbc.can.packer import CANPacker
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from opendbc.car import Bus, apply_std_steer_angle_limits
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.tesla.teslacan import TeslaCAN
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from opendbc.car.tesla.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.apply_angle_last = 0
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self.packer = CANPacker(dbc_names[Bus.party])
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self.tesla_can = TeslaCAN(self.packer)
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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can_sends = []
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# Disengage and allow for user override on high torque inputs
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# TODO: move this to a generic disengageRequested carState field and set CC.cruiseControl.cancel based on it
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hands_on_fault = CS.hands_on_level >= 3
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cruise_cancel = CC.cruiseControl.cancel or hands_on_fault
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lat_active = CC.latActive and not hands_on_fault
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if self.frame % 2 == 0:
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# Angular rate limit based on speed
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self.apply_angle_last = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo,
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CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
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can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_last, lat_active, (self.frame // 2) % 16))
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if self.frame % 10 == 0:
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can_sends.append(self.tesla_can.create_steering_allowed((self.frame // 10) % 16))
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# Longitudinal control
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if self.CP.openpilotLongitudinalControl:
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if self.frame % 4 == 0:
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state = 13 if cruise_cancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
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accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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cntr = (self.frame // 4) % 8
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can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive))
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else:
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# Increment counter so cancel is prioritized even without openpilot longitudinal
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if cruise_cancel:
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cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
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can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False))
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# TODO: HUD control
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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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