From f837b5b40f59ae4f8384bbb4923d6190bd66f8a0 Mon Sep 17 00:00:00 2001 From: Jason Wen Date: Tue, 29 Aug 2023 13:51:50 -0400 Subject: [PATCH] Carcontroller: consolidate can sends method imports (#29695) * Carcontroller: consolidate can sends method imports * fix * ruff old-commit-hash: 7fbb7254fa13e0f219a1d8cd2d32c71388e93eb0 --- selfdrive/car/chrysler/carcontroller.py | 11 +++++----- selfdrive/car/ford/carcontroller.py | 27 ++++++++++++------------- selfdrive/car/toyota/carcontroller.py | 22 +++++++++----------- 3 files changed, 29 insertions(+), 31 deletions(-) diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py index a568f927b8..050eb41b1a 100644 --- a/selfdrive/car/chrysler/carcontroller.py +++ b/selfdrive/car/chrysler/carcontroller.py @@ -1,7 +1,7 @@ from opendbc.can.packer import CANPacker from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_meas_steer_torque_limits -from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons +from openpilot.selfdrive.car.chrysler import chryslercan from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags @@ -31,17 +31,18 @@ class CarController: # ACC cancellation if CC.cruiseControl.cancel: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True)) # ACC resume from standstill elif CC.cruiseControl.resume: self.last_button_frame = self.frame - can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) + can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True)) # HUD alerts if self.frame % 25 == 0: if CS.lkas_car_model != -1: - can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) + can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, + self.hud_count, CS.lkas_car_model, CS.auto_high_beam)) self.hud_count += 1 # steering @@ -72,7 +73,7 @@ class CarController: apply_steer = 0 self.apply_steer_last = apply_steer - can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) + can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit)) self.frame += 1 diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 86008c6352..fe9ee404a4 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -2,8 +2,7 @@ from cereal import car from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_std_steer_angle_limits -from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \ - create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg +from openpilot.selfdrive.car.ford import fordcan from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams LongCtrlState = car.CarControl.Actuators.LongControlState @@ -27,7 +26,7 @@ class CarController: self.CP = CP self.VM = VM self.packer = CANPacker(dbc_name) - self.CAN = CanBus(CP) + self.CAN = fordcan.CanBus(CP) self.frame = 0 self.apply_curvature_last = 0 @@ -47,15 +46,15 @@ class CarController: ### acc buttons ### if CC.cruiseControl.cancel: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True)) elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: - can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) - can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True)) # 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(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) + can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True)) ### lateral control ### # send steer msg at 20Hz @@ -73,13 +72,13 @@ class CarController: # TODO: extended mode mode = 1 if CC.latActive else 0 counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF - can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) + can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter)) else: - can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) + can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.)) # send lka msg at 33Hz if (self.frame % CarControllerParams.LKA_STEP) == 0: - can_sends.append(create_lka_msg(self.packer, self.CAN)) + can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN)) ### longitudinal control ### # send acc msg at 50Hz @@ -91,16 +90,16 @@ class CarController: gas = CarControllerParams.INACTIVE_GAS stopping = CC.actuators.longControlState == LongCtrlState.stopping - can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) + can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping)) ### 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 msg at 1Hz or if ui state changes if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: - can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) + can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values)) # send acc ui msg at 5Hz or if ui state changes if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: - can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, + can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive, fcw_alert, CS.out.cruiseState.standstill, hud_control, CS.acc_tja_status_stock_values)) diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py index 01896f1421..2a02a57d86 100644 --- a/selfdrive/car/toyota/carcontroller.py +++ b/selfdrive/car/toyota/carcontroller.py @@ -2,9 +2,7 @@ from cereal import car from openpilot.common.numpy_fast import clip, interp from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \ create_gas_interceptor_command, make_can_msg -from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ - create_accel_command, create_acc_cancel_command, \ - create_fcw_command, create_lta_steer_command +from openpilot.selfdrive.car.toyota import toyotacan from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ UNSUPPORTED_DSU_CAR @@ -85,13 +83,13 @@ class CarController: # 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)) + can_sends.append(toyotacan.create_steer_command(self.packer, apply_steer, apply_steer_req)) if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR: lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) setme_x64 = 100 if lta_active and full_torque_condition else 0 - can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) + can_sends.append(toyotacan.create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64)) # *** gas and brake *** if self.CP.enableGasInterceptor and CC.longActive: @@ -135,12 +133,12 @@ class CarController: # Lexus IS uses a different cancellation message if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: - can_sends.append(create_acc_cancel_command(self.packer)) + can_sends.append(toyotacan.create_acc_cancel_command(self.packer)) elif self.CP.openpilotLongitudinalControl: - can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert)) + can_sends.append(toyotacan.create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, fcw_alert)) self.accel = pcm_accel_cmd else: - can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False)) + can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, False)) if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl: # send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd. @@ -163,12 +161,12 @@ class CarController: send_ui = True if self.frame % 20 == 0 or send_ui: - can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, - hud_control.rightLaneVisible, hud_control.leftLaneDepart, - hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) + can_sends.append(toyotacan.create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, + hud_control.rightLaneVisible, hud_control.leftLaneDepart, + hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value): - can_sends.append(create_fcw_command(self.packer, fcw_alert)) + can_sends.append(toyotacan.create_fcw_command(self.packer, fcw_alert)) # *** static msgs *** for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: