don't run long state/actuators unless sending message

pull/23257/head
Jason Young 4 years ago
parent 0275de0737
commit 2db099a179
  1. 73
      selfdrive/car/volkswagen/carcontroller.py

@ -35,40 +35,40 @@ class CarController():
# **** Acceleration and Braking Controls ******************************** #
if CS.CP.openpilotLongitudinalControl:
if CS.tsk_status in [2, 3, 4, 5]:
acc_status = 3 if enabled else 2
else:
acc_status = CS.tsk_status
accel = actuators.accel if enabled else 0
accel = clip(accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
# FIXME: this needs to become a proper state machine
acc_hold_request, acc_hold_release = False, False
if actuators.longControlState == LongCtrlState.stopping:
self.acc_stopping = True
acc_hold_request = not CS.esp_hold_confirmation # Send hold request for ABS/ESP brake-hold until acked
elif enabled:
if self.acc_stopping:
self.acc_starting = True
self.acc_stopping = False
self.acc_starting &= CS.out.vEgo < CS.CP.vEgoStarting
acc_hold_release = CS.esp_hold_confirmation # Send release request for ABS/ESP brake-hold until acked
else:
self.acc_stopping, self.acc_starting = False, False
if frame % P.ACC_CONTROL_STEP == 0:
if CS.tsk_status in [2, 3, 4, 5]:
acc_status = 3 if enabled else 2
else:
acc_status = CS.tsk_status
accel = actuators.accel if enabled else 0
accel = clip(accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
# FIXME: this needs to become a proper state machine
acc_hold_request, acc_hold_release = False, False
if actuators.longControlState == LongCtrlState.stopping:
self.acc_stopping = True
acc_hold_request = not CS.esp_hold_confirmation # Send hold request for ABS/ESP brake-hold until acked
elif enabled:
if self.acc_stopping:
self.acc_starting = True
self.acc_stopping = False
self.acc_starting &= CS.out.vEgo < CS.CP.vEgoStarting
acc_hold_release = CS.esp_hold_confirmation # Send release request for ABS/ESP brake-hold until acked
else:
self.acc_stopping, self.acc_starting = False, False
# Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again
cb_pos = 0.2
cb_neg = 0.2
# Hopefully, have PI yank the lag out and let the drivetrain coordinator make it smooth again
cb_pos = 0.2
cb_neg = 0.2
if acc_hold_request:
weird_value = 0x88
elif self.acc_stopping:
weird_value = 0x95
else:
weird_value = 0x7F
if acc_hold_request:
weird_value = 0x88
elif self.acc_stopping:
weird_value = 0x95
else:
weird_value = 0x7F
if frame % P.ACC_CONTROL_STEP == 0:
idx = (frame / P.ACC_CONTROL_STEP) % 16
can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
accel, self.acc_stopping, self.acc_starting,
@ -77,6 +77,11 @@ class CarController():
accel, self.acc_stopping, self.acc_starting,
acc_hold_request, acc_hold_release, weird_value, idx))
if frame % P.ACC_HUD_STEP == 0:
idx = (frame / P.ACC_HUD_STEP) % 16
can_sends.append(volkswagencan.create_mqb_acc_hud_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
set_speed * CV.MS_TO_KPH, idx))
# **** Steering Controls ************************************************ #
if frame % P.HCA_STEP == 0:
@ -133,12 +138,6 @@ class CarController():
right_lane_visible, CS.ldw_stock_values,
left_lane_depart, right_lane_depart))
if CS.CP.openpilotLongitudinalControl:
if frame % P.ACC_HUD_STEP == 0:
idx = (frame / P.ACC_HUD_STEP) % 16
can_sends.append(volkswagencan.create_mqb_acc_hud_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
set_speed * CV.MS_TO_KPH, idx))
# **** ACC Button Controls ********************************************** #
# FIXME: this entire section is in desperate need of refactoring

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