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65 lines
3.0 KiB
65 lines
3.0 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from selfdrive.car.mazda import mazdacan
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from selfdrive.car.mazda.values import CarControllerParams, Buttons
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from selfdrive.car import apply_std_steer_torque_limits
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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self.brake_counter = 0
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def update(self, c, CS, frame):
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can_sends = []
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apply_steer = 0
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self.steer_rate_limited = False
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if c.active:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorque, CarControllerParams)
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self.steer_rate_limited = new_steer != apply_steer
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if CS.out.standstill and frame % 5 == 0:
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# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
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# Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
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# TODO: improve the resume trigger logic by looking at actual radar data
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
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if c.cruiseControl.cancel or (CS.out.cruiseState.enabled and not c.enabled):
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# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
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# a race condition with the stock system, where the second cancel from openpilot
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# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
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# read 3 messages and most likely sync state before we attempt cancel.
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self.brake_counter = self.brake_counter + 1
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if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
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# Cancel Stock ACC if it's enabled while OP is disengaged
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# Send at a rate of 10hz until we sync with stock ACC state
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can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
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else:
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self.brake_counter = 0
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self.apply_steer_last = apply_steer
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# send HUD alerts
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if frame % 50 == 0:
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ldw = c.hudControl.visualAlert == VisualAlert.ldw
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steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
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# TODO: find a way to silence audible warnings so we can add more hud alerts
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steer_required = steer_required and CS.lkas_allowed_speed
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can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
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# send steering command
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can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
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frame, apply_steer, CS.cam_lkas))
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new_actuators = c.actuators.copy()
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new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
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return new_actuators, can_sends
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