You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
78 lines
3.0 KiB
78 lines
3.0 KiB
from selfdrive.car import apply_std_steer_torque_limits
|
|
from selfdrive.car.subaru import subarucan
|
|
from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
|
|
from opendbc.can.packer import CANPacker
|
|
|
|
|
|
class CarController():
|
|
def __init__(self, dbc_name, CP, VM):
|
|
self.apply_steer_last = 0
|
|
self.es_distance_cnt = -1
|
|
self.es_lkas_cnt = -1
|
|
self.cruise_button_prev = 0
|
|
self.steer_rate_limited = False
|
|
|
|
self.p = CarControllerParams(CP)
|
|
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
|
|
|
|
def update(self, c, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
|
|
|
|
can_sends = []
|
|
|
|
# *** steering ***
|
|
if (frame % self.p.STEER_STEP) == 0:
|
|
|
|
apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
|
|
|
|
# limits due to driver torque
|
|
|
|
new_steer = int(round(apply_steer))
|
|
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
|
|
self.steer_rate_limited = new_steer != apply_steer
|
|
|
|
if not c.active:
|
|
apply_steer = 0
|
|
|
|
if CS.CP.carFingerprint in PREGLOBAL_CARS:
|
|
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
|
|
else:
|
|
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
|
|
|
|
self.apply_steer_last = apply_steer
|
|
|
|
|
|
# *** alerts and pcm cancel ***
|
|
|
|
if CS.CP.carFingerprint in PREGLOBAL_CARS:
|
|
if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
|
|
# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
|
|
# disengage ACC when OP is disengaged
|
|
if pcm_cancel_cmd:
|
|
cruise_button = 1
|
|
# turn main on if off and past start-up state
|
|
elif not CS.out.cruiseState.available and CS.ready:
|
|
cruise_button = 1
|
|
else:
|
|
cruise_button = CS.cruise_button
|
|
|
|
# unstick previous mocked button press
|
|
if cruise_button == 1 and self.cruise_button_prev == 1:
|
|
cruise_button = 0
|
|
self.cruise_button_prev = cruise_button
|
|
|
|
can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
|
|
self.es_distance_cnt = CS.es_distance_msg["Counter"]
|
|
|
|
else:
|
|
if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
|
|
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
|
|
self.es_distance_cnt = CS.es_distance_msg["Counter"]
|
|
|
|
if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
|
|
can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
|
|
self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
|
|
|
|
new_actuators = actuators.copy()
|
|
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
|
|
|
return new_actuators, can_sends
|
|
|