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117 lines
5.2 KiB
117 lines
5.2 KiB
from cereal import car
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from common.realtime import DT_CTRL
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from common.numpy_fast import interp
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from selfdrive.config import Conversions as CV
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.gm import gmcan
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from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
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from opendbc.can.packer import CANPacker
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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.start_time = 0.
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self.apply_steer_last = 0
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self.apply_gas = 0
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self.apply_brake = 0
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self.lka_steering_cmd_counter_last = -1
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self.lka_icon_status_last = (False, False)
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self.steer_rate_limited = False
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self.params = CarControllerParams()
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self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
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self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
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self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
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def update(self, c, enabled, CS, frame, actuators,
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hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
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P = self.params
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# Send CAN commands.
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can_sends = []
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# Steering (50Hz)
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# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
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# next Panda loopback confirmation in the current CS frame.
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if CS.lka_steering_cmd_counter != self.lka_steering_cmd_counter_last:
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self.lka_steering_cmd_counter_last = CS.lka_steering_cmd_counter
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elif (frame % P.STEER_STEP) == 0:
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lkas_enabled = c.active and not (CS.out.steerWarning or CS.out.steerError) and CS.out.vEgo > P.MIN_STEER_SPEED
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if lkas_enabled:
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new_steer = int(round(actuators.steer * P.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
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self.steer_rate_limited = new_steer != apply_steer
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else:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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# GM EPS faults on any gap in received message counters. To handle transient OP/Panda safety sync issues at the
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# moment of disengaging, increment the counter based on the last message known to pass Panda safety checks.
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idx = (CS.lka_steering_cmd_counter + 1) % 4
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can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
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# Gas/regen and brakes - all at 25Hz
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if (frame % 4) == 0:
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if not c.active:
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# Stock ECU sends max regen when not enabled.
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self.apply_gas = P.MAX_ACC_REGEN
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self.apply_brake = 0
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else:
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self.apply_gas = int(round(interp(actuators.accel, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V)))
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self.apply_brake = int(round(interp(actuators.accel, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V)))
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idx = (frame // 4) % 4
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at_full_stop = enabled and CS.out.standstill
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near_stop = enabled and (CS.out.vEgo < P.NEAR_STOP_BRAKE_PHASE)
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can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
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can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, enabled, at_full_stop))
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# Send dashboard UI commands (ACC status), 25hz
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if (frame % 4) == 0:
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send_fcw = hud_alert == VisualAlert.fcw
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can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car, send_fcw))
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# Radar needs to know current speed and yaw rate (50hz),
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# and that ADAS is alive (10hz)
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time_and_headlights_step = 10
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tt = frame * DT_CTRL
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if frame % time_and_headlights_step == 0:
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idx = (frame // time_and_headlights_step) % 4
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can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
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can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
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speed_and_accelerometer_step = 2
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if frame % speed_and_accelerometer_step == 0:
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idx = (frame // speed_and_accelerometer_step) % 4
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can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
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can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
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if frame % P.ADAS_KEEPALIVE_STEP == 0:
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can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
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# Show green icon when LKA torque is applied, and
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# alarming orange icon when approaching torque limit.
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# If not sent again, LKA icon disappears in about 5 seconds.
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# Conveniently, sending camera message periodically also works as a keepalive.
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lka_active = CS.lkas_status == 1
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lka_critical = lka_active and abs(actuators.steer) > 0.9
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lka_icon_status = (lka_active, lka_critical)
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if frame % P.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
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steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
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can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
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self.lka_icon_status_last = lka_icon_status
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new_actuators = actuators.copy()
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new_actuators.steer = self.apply_steer_last / P.STEER_MAX
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new_actuators.gas = self.apply_gas
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new_actuators.brake = self.apply_brake
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return new_actuators, can_sends
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