diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 8c391bb276..8164a8a970 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,7 +2,7 @@ import math from cereal import car from common.numpy_fast import clip, interp from opendbc.can.packer import CANPacker -from selfdrive.car.ford import fordcan +from selfdrive.car.ford.fordcan import create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, create_lka_msg, create_lkas_ui_msg from selfdrive.car.ford.values import CANBUS, CarControllerParams VisualAlert = car.CarControl.HUDControl.VisualAlert @@ -46,16 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True)) - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True)) - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True)) + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main)) # if stock lane centering isn't off, send a button press to toggle it off # the stock system checks for steering pressed, and eventually disengages cruise control elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0: - can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True)) - + can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### if CC.latActive: @@ -84,21 +83,19 @@ class CarController: precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable) self.apply_angle_last = apply_angle - can_sends.append(fordcan.create_lka_command(self.packer, 0, 0)) - can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision, - 0, path_angle, 0, 0)) - + can_sends.append(create_lka_msg(self.packer)) + can_sends.append(create_lat_ctl_msg(self.packer, lca_rq, ramp_type, precision, 0, path_angle, 0, 0)) ### ui ### send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) # send lkas ui command at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui command at 20Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) + can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, CS.acc_tja_status_stock_values)) self.main_on_last = main_on self.lkas_enabled_last = CC.latActive diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 2276b1208a..215900fef6 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -118,7 +118,7 @@ class CarState(CarStateBase): ("DrStatRl_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear left ("DrStatRr_B_Actl", "BodyInfo_3_FD1"), # BCM Door open, rear right ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"), # RCM Seatbelt status, driver - ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthru the remaining buttons + ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"), # SCCM Passthrough the remaining buttons ("WiprFront_D_Stat", "Steering_Data_FD1"), ("LghtAmb_D_Sns", "Steering_Data_FD1"), ("AccButtnGapDecPress", "Steering_Data_FD1"), diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py index 373ce096c6..af80894ff8 100644 --- a/selfdrive/car/ford/fordcan.py +++ b/selfdrive/car/ford/fordcan.py @@ -4,9 +4,9 @@ from selfdrive.car.ford.values import CANBUS HUDControl = car.CarControl.HUDControl -def create_lka_command(packer, angle_deg: float, curvature: float): +def create_lka_msg(packer): """ - Creates a CAN message for the Ford LKAS Command. + Creates a CAN message for the Ford LKA Command. This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout. @@ -16,52 +16,54 @@ def create_lka_command(packer, angle_deg: float, curvature: float): values = { "LkaDrvOvrrd_D_Rq": 0, # driver override level? [0|3] "LkaActvStats_D2_Req": 0, # action [0|7] - "LaRefAng_No_Req": angle_deg, # angle [-102.4|102.3] degrees + "LaRefAng_No_Req": 0, # angle [-102.4|102.3] degrees "LaRampType_B_Req": 0, # Ramp speed: 0=Smooth, 1=Quick - "LaCurvature_No_Calc": curvature, # curvature [-0.01024|0.01023] 1/meter + "LaCurvature_No_Calc": 0, # curvature [-0.01024|0.01023] 1/meter "LdwActvStats_D_Req": 0, # LDW status [0|7] "LdwActvIntns_D_Req": 0, # LDW intensity [0|3], shake alert strength } return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values) -def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float): +def create_lat_ctl_msg(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, + curvature: float, curvature_rate: float): """ Creates a CAN message for the Ford TJA/LCA Command. - This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam - assist and highway driving. It is not subject to the PSCM lockout. + This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway + driving. It is not subject to the PSCM lockout. - Ford lane centering command uses a third order polynomial to describe the road centerline. The - polynomial is defined by the following coefficients: - c0: lateral offset between the vehicle and the centerline - c1: heading angle between the vehicle and the centerline - c2: curvature of the centerline + Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined + by the following coefficients: + c0: lateral offset between the vehicle and the centerline (positive is right) + c1: heading angle between the vehicle and the centerline (positive is right) + c2: curvature of the centerline (positive is left) c3: rate of change of curvature of the centerline - As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and - speed, the steering angle cannot be easily controlled. + As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering + angle cannot be easily controlled. - The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. - This can be done using tools such as Forscan. + The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done + using tools such as Forscan. Frequency is 20Hz. """ values = { - "LatCtlRng_L_Max": 0, # Unknown [0|126] meter - "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] - "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7] - "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] - "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] - "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter - "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians - "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 - "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter + "LatCtlRng_L_Max": 0, # Unknown [0|126] meter + "HandsOffCnfm_B_Rq": 0, # Unknown: 0=Inactive, 1=Active [0|1] + "LatCtl_D_Rq": lca_rq, # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, + # 3=InterventionRight, 4-7=NotUsed [0|7] + "LatCtlRampType_D_Rq": ramp_type, # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3] + "LatCtlPrecision_D_Rq": precision, # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3] + "LatCtlPathOffst_L_Actl": path_offset, # Path offset [-5.12|5.11] meter + "LatCtlPath_An_Actl": path_angle, # Path angle [-0.5|0.5235] radians + "LatCtlCurv_NoRate_Actl": curvature_rate, # Curvature rate [-0.001024|0.00102375] 1/meter^2 + "LatCtlCurv_No_Actl": curvature, # Curvature [-0.02|0.02094] 1/meter } return packer.make_can_msg("LateralMotionControl", CANBUS.main, values) -def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): +def create_lkas_ui_msg(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict): """ Creates a CAN message for the Ford IPC IPMA/LKAS status. @@ -107,16 +109,15 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo values = { **stock_values, - "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] - "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed + "LaActvStats_D_Dsply": lines, # LKAS status (lines) [0|31] + "LaHandsOff_D_Dsply": hands_on_wheel_dsply, # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed } return packer.make_can_msg("IPMA_Data", CANBUS.main, values) -def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): +def create_acc_ui_msg(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict): """ - Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam - assist status. + Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam assist status. Stock functionality is maintained by passing through unmodified signals. @@ -148,7 +149,8 @@ def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, sto return packer.make_can_msg("ACCDATA_3", CANBUS.main, values) -def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera): +def create_button_msg(packer, stock_values: dict, cancel=False, resume=False, tja_toggle=False, + bus: int = CANBUS.camera): """ Creates a CAN message for the Ford SCCM buttons/switches. diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index f3d77bc05a..b0e97677b5 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -2,10 +2,11 @@ from cereal import car from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config -from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter +from selfdrive.car.ford.values import CAR, Ecu from selfdrive.car.interfaces import CarInterfaceBase -CarParams = car.CarParams +TransmissionType = car.CarParams.TransmissionType +GearShifter = car.CarState.GearShifter class CarInterface(CarInterfaceBase): @@ -13,10 +14,10 @@ class CarInterface(CarInterfaceBase): def _get_params(ret, candidate, fingerprint, car_fw, experimental_long): ret.carName = "ford" ret.dashcamOnly = True - ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)] # Angle-based steering - ret.steerControlType = CarParams.SteerControlType.angle + ret.steerControlType = car.CarParams.SteerControlType.angle ret.steerActuatorDelay = 0.4 ret.steerLimitTimer = 1.0 diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 0e6ef464b3..87cb98878d 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -9,9 +9,6 @@ from selfdrive.car.docs_definitions import CarInfo, Harness from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries Ecu = car.CarParams.Ecu -TransmissionType = car.CarParams.TransmissionType -GearShifter = car.CarState.GearShifter - AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])