From 3f0b06b16e638036adb7fe5110b6b5c38d30f1fe Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 3 May 2022 13:17:24 -0700 Subject: [PATCH] Chrysler: clean up CarController (#24337) * clean up * max range is 15 * use wheel buttons counter and clean up * no * try spamming 10 times with next counter value * try 50 hz * this is dead code * revert behavior changes, just clean up * revert more * also that * no multiline can creation * sort imports --- selfdrive/car/chrysler/carcontroller.py | 45 ++++++++++++------------- selfdrive/car/chrysler/chryslercan.py | 2 +- selfdrive/car/chrysler/interface.py | 6 +--- 3 files changed, 23 insertions(+), 30 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index 0648699f95..eda00a2ea1 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,16 +1,16 @@ from cereal import car +from opendbc.can.packer import CANPacker from selfdrive.car import apply_toyota_steer_torque_limits -from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \ - create_wheel_buttons +from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons from selfdrive.car.chrysler.values import CAR, CarControllerParams -from opendbc.can.packer import CANPacker -class CarController(): + +class CarController: def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 - self.ccframe = 0 - self.prev_frame = -1 + self.frame = 0 + self.prev_lkas_frame = -1 self.hud_count = 0 self.car_fingerprint = CP.carFingerprint self.gone_fast_yet = False @@ -18,12 +18,13 @@ class CarController(): self.packer = CANPacker(dbc_name) - def update(self, enabled, CS, actuators, pcm_cancel_cmd, hud_alert): + def update(self, CC, CS): # this seems needed to avoid steering faults and to force the sync with the EPS counter - frame = CS.lkas_counter - if self.prev_frame == frame: + if self.prev_lkas_frame == CS.lkas_counter: return car.CarControl.Actuators.new_message(), [] + actuators = CC.actuators + # steer torque new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX)) apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, @@ -36,7 +37,7 @@ class CarController(): elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019): 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 + lkas_active = moving_fast and CC.enabled if not lkas_active: apply_steer = 0 @@ -45,28 +46,24 @@ class CarController(): can_sends = [] - #*** control msgs *** + # *** control msgs *** - if pcm_cancel_cmd: + if CC.cruiseControl.cancel: # TODO: would be better to start from frame_2b3 - new_msg = create_wheel_buttons(self.packer, self.ccframe, cancel=True) - can_sends.append(new_msg) + can_sends.append(create_wheel_buttons(self.packer, self.frame, cancel=True)) # LKAS_HEARTBIT is forwarded by Panda so no need to send it here. # frame is 100Hz (0.01s period) - if (self.ccframe % 25 == 0): # 0.25s period - if (CS.lkas_car_model != -1): - new_msg = create_lkas_hud( - self.packer, CS.out.gearShifter, lkas_active, hud_alert, - self.hud_count, CS.lkas_car_model) - can_sends.append(new_msg) + if self.frame % 25 == 0: # 0.25s period + if CS.lkas_car_model != -1: + can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active, + CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model)) self.hud_count += 1 - new_msg = create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, frame) - can_sends.append(new_msg) + can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter)) - self.ccframe += 1 - self.prev_frame = frame + self.frame += 1 + self.prev_lkas_frame = CS.lkas_counter new_actuators = actuators.copy() new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py index 4d5226570c..33f614d75e 100644 --- a/selfdrive/car/chrysler/chryslercan.py +++ b/selfdrive/car/chrysler/chryslercan.py @@ -52,6 +52,6 @@ def create_wheel_buttons(packer, frame, cancel=False): # WHEEL_BUTTONS (571) Message sent to cancel ACC. values = { "ACC_CANCEL": cancel, - "COUNTER": frame % 10 + "COUNTER": frame % 10 # FIXME: this counter is wrong } return packer.make_can_msg("WHEEL_BUTTONS", 0, values) diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py index 7751bd151b..55672dd4ab 100755 --- a/selfdrive/car/chrysler/interface.py +++ b/selfdrive/car/chrysler/interface.py @@ -65,8 +65,4 @@ class CarInterface(CarInterfaceBase): # pass in a car.CarControl # to be called @ 100hz def apply(self, c): - - if (self.CS.frame == -1): - return car.CarControl.Actuators.new_message(), [] # if we haven't seen a frame 220, then do not update. - - return self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert) + return self.CC.update(c, self.CS)