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.
28 lines
823 B
28 lines
823 B
from abc import abstractmethod, ABC
|
|
|
|
from common.realtime import DT_CTRL
|
|
from common.numpy_fast import clip
|
|
|
|
MIN_STEER_SPEED = 0.3
|
|
|
|
|
|
class LatControl(ABC):
|
|
def __init__(self, CP, CI):
|
|
self.sat_count_rate = 1.0 * DT_CTRL
|
|
self.sat_limit = CP.steerLimitTimer
|
|
self.sat_count = 0.
|
|
|
|
@abstractmethod
|
|
def update(self, active, CS, CP, VM, params, last_actuators, desired_curvature, desired_curvature_rate):
|
|
pass
|
|
|
|
def reset(self):
|
|
self.sat_count = 0.
|
|
|
|
def _check_saturation(self, saturated, CS):
|
|
if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed:
|
|
self.sat_count += self.sat_count_rate
|
|
else:
|
|
self.sat_count -= self.sat_count_rate
|
|
self.sat_count = clip(self.sat_count, 0.0, self.sat_limit)
|
|
return self.sat_count > (self.sat_limit - 1e-3)
|
|
|