combine limiting, logic to create commands, and creating commands into one place

selfdrive/car/toyota/carcontroller.py

@@ -40,23 +40,7 @@ class CarController:
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
-    # gas and brake
+    can_sends = []
-    if self.CP.enableGasInterceptor and CC.longActive:
-      MAX_INTERCEPTOR_GAS = 0.5
-      # RAV4 has very sensitive gas pedal
-      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 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])
-      # offset for creep and windbrake
-      pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
-      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
-      interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
-    else:
-      interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # steer torque
     new_steer = int(round(actuators.steer * self.params.STEER_MAX))
@@ -81,6 +65,38 @@ class CarController:
       apply_steer = 0
       apply_steer_req = 0
 
+    self.last_steer = apply_steer
+
+    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
+    # 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))
+    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
+    # if self.frame % 2 == 0:
+    #   can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
+    #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
+
+    # gas and brake
+    if self.CP.enableGasInterceptor and CC.longActive:
+      MAX_INTERCEPTOR_GAS = 0.5
+      # RAV4 has very sensitive gas pedal
+      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 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])
+      # offset for creep and windbrake
+      pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
+      pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
+      interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
+    else:
+      interceptor_gas_cmd = 0.
+    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
+
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
     if not CC.enabled and CS.pcm_acc_status:
@@ -93,26 +109,11 @@ class CarController:
       # pcm entered standstill or it's disabled
       self.standstill_req = False
 
-    self.last_steer = apply_steer
     self.last_standstill = CS.out.standstill
 
-    can_sends = []
-
     # *** control msgs ***
     # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
 
-    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
-    # 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))
-    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
-    # if self.frame % 2 == 0:
-    #   can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
-    #   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 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