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Carcontroller: consolidate can sends method imports (#29695)

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* Carcontroller: consolidate can sends method imports

* fix

* ruff
old-commit-hash: 7fbb7254fa
beeps
Jason Wen 2 years ago committed by GitHub
parent b08c5d7517
commit f837b5b40f
3 changed files with 29 additions and 31 deletions
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  1. 11
      selfdrive/car/chrysler/carcontroller.py
  2. 27
      selfdrive/car/ford/carcontroller.py
  3. 22
      selfdrive/car/toyota/carcontroller.py

11
selfdrive/car/chrysler/carcontroller.py
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@ -1,7 +1,7 @@
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from openpilot.common.realtime import DT_CTRL from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_meas_steer_torque_limits 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 from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
@ -31,17 +31,18 @@ class CarController:
# ACC cancellation # ACC cancellation
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
self.last_button_frame = self.frame 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 # ACC resume from standstill
elif CC.cruiseControl.resume: elif CC.cruiseControl.resume:
self.last_button_frame = self.frame 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 # HUD alerts
if self.frame % 25 == 0: if self.frame % 25 == 0:
if CS.lkas_car_model != -1: 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 self.hud_count += 1
# steering # steering
@ -72,7 +73,7 @@ class CarController:
apply_steer = 0 apply_steer = 0
self.apply_steer_last = apply_steer 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 self.frame += 1

27
selfdrive/car/ford/carcontroller.py
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@ -2,8 +2,7 @@ from cereal import car
from openpilot.common.numpy_fast import clip from openpilot.common.numpy_fast import clip
from opendbc.can.packer import CANPacker from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_std_steer_angle_limits 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, \ from openpilot.selfdrive.car.ford import fordcan
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
LongCtrlState = car.CarControl.Actuators.LongControlState LongCtrlState = car.CarControl.Actuators.LongControlState
@ -27,7 +26,7 @@ class CarController:
self.CP = CP self.CP = CP
self.VM = VM self.VM = VM
self.packer = CANPacker(dbc_name) self.packer = CANPacker(dbc_name)
self.CAN = CanBus(CP) self.CAN = fordcan.CanBus(CP)
self.frame = 0 self.frame = 0
self.apply_curvature_last = 0 self.apply_curvature_last = 0
@ -47,15 +46,15 @@ class CarController:
### acc buttons ### ### acc buttons ###
if CC.cruiseControl.cancel: if CC.cruiseControl.cancel:
can_sends.append(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.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.main, CS.buttons_stock_values, cancel=True))
elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0: 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(fordcan.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.main, CS.buttons_stock_values, resume=True))
# if stock lane centering isn't off, send a button press to toggle it off # 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 # 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: 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 ### ### lateral control ###
# send steer msg at 20Hz # send steer msg at 20Hz
@ -73,13 +72,13 @@ class CarController:
# TODO: extended mode # TODO: extended mode
mode = 1 if CC.latActive else 0 mode = 1 if CC.latActive else 0
counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF 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: 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 # send lka msg at 33Hz
if (self.frame % CarControllerParams.LKA_STEP) == 0: 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 ### ### longitudinal control ###
# send acc msg at 50Hz # send acc msg at 50Hz
@ -91,16 +90,16 @@ class CarController:
gas = CarControllerParams.INACTIVE_GAS gas = CarControllerParams.INACTIVE_GAS
stopping = CC.actuators.longControlState == LongCtrlState.stopping 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 ### ### ui ###
send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert) 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 # send lkas ui msg at 1Hz or if ui state changes
if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui: 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 # send acc ui msg at 5Hz or if ui state changes
if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui: 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, fcw_alert, CS.out.cruiseState.standstill, hud_control,
CS.acc_tja_status_stock_values)) CS.acc_tja_status_stock_values))

22
selfdrive/car/toyota/carcontroller.py
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@ -2,9 +2,7 @@ from cereal import car
from openpilot.common.numpy_fast import clip, interp 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, \ 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 create_gas_interceptor_command, make_can_msg
from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \ from openpilot.selfdrive.car.toyota import toyotacan
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \ from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \ MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
UNSUPPORTED_DSU_CAR UNSUPPORTED_DSU_CAR
@ -85,13 +83,13 @@ class CarController:
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2; # 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 # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages # 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: if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE) abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
setme_x64 = 100 if lta_active and full_torque_condition else 0 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 *** # *** gas and brake ***
if self.CP.enableGasInterceptor and CC.longActive: if self.CP.enableGasInterceptor and CC.longActive:
@ -135,12 +133,12 @@ class CarController:
# Lexus IS uses a different cancellation message # Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in UNSUPPORTED_DSU_CAR: 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: 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 self.accel = pcm_accel_cmd
else: 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: 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. # 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 send_ui = True
if self.frame % 20 == 0 or send_ui: if self.frame % 20 == 0 or send_ui:
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible, 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.rightLaneVisible, hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud)) 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): 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 *** # *** static msgs ***
for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS: for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:

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