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.
115 lines
5.5 KiB
115 lines
5.5 KiB
from cereal import car
|
|
from common.numpy_fast import clip
|
|
from opendbc.can.packer import CANPacker
|
|
from selfdrive.car import apply_std_steer_angle_limits
|
|
from selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
|
|
create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
|
|
from selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
|
|
|
|
LongCtrlState = car.CarControl.Actuators.LongControlState
|
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|
|
|
|
|
def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
|
|
# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
|
|
if v_ego_raw > 9:
|
|
apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
|
|
current_curvature + CarControllerParams.CURVATURE_ERROR)
|
|
|
|
# Curvature rate limit after driver torque limit
|
|
apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
|
|
|
|
return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
|
|
|
|
|
|
class CarController:
|
|
def __init__(self, dbc_name, CP, VM):
|
|
self.CP = CP
|
|
self.VM = VM
|
|
self.packer = CANPacker(dbc_name)
|
|
self.CAN = CanBus(CP)
|
|
self.frame = 0
|
|
|
|
self.apply_curvature_last = 0
|
|
self.main_on_last = False
|
|
self.lkas_enabled_last = False
|
|
self.steer_alert_last = False
|
|
|
|
def update(self, CC, CS, now_nanos):
|
|
can_sends = []
|
|
|
|
actuators = CC.actuators
|
|
hud_control = CC.hudControl
|
|
|
|
main_on = CS.out.cruiseState.available
|
|
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
|
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
|
|
|
|
### acc buttons ###
|
|
if CC.cruiseControl.cancel:
|
|
can_sends.append(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))
|
|
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(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
|
|
# 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:
|
|
can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
|
|
|
|
### lateral control ###
|
|
# send steer msg at 20Hz
|
|
if (self.frame % CarControllerParams.STEER_STEP) == 0:
|
|
if CC.latActive:
|
|
# apply rate limits, curvature error limit, and clip to signal range
|
|
current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
|
|
apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
|
|
else:
|
|
apply_curvature = 0.
|
|
|
|
self.apply_curvature_last = apply_curvature
|
|
|
|
if self.CP.carFingerprint in CANFD_CAR:
|
|
# TODO: extended mode
|
|
mode = 1 if CC.latActive else 0
|
|
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))
|
|
else:
|
|
can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
|
|
|
|
# send lka msg at 33Hz
|
|
if (self.frame % CarControllerParams.LKA_STEP) == 0:
|
|
can_sends.append(create_lka_msg(self.packer, self.CAN))
|
|
|
|
### longitudinal control ###
|
|
# send acc msg at 50Hz
|
|
if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
|
|
# Both gas and accel are in m/s^2, accel is used solely for braking
|
|
accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
|
|
gas = accel
|
|
if not CC.longActive or gas < CarControllerParams.MIN_GAS:
|
|
gas = CarControllerParams.INACTIVE_GAS
|
|
|
|
stopping = CC.actuators.longControlState == LongCtrlState.stopping
|
|
can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
|
|
|
|
### ui ###
|
|
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
|
|
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))
|
|
# send acc ui msg at 5Hz or if ui state changes
|
|
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,
|
|
fcw_alert, CS.out.cruiseState.standstill, hud_control,
|
|
CS.acc_tja_status_stock_values))
|
|
|
|
self.main_on_last = main_on
|
|
self.lkas_enabled_last = CC.latActive
|
|
self.steer_alert_last = steer_alert
|
|
|
|
new_actuators = actuators.copy()
|
|
new_actuators.curvature = self.apply_curvature_last
|
|
|
|
self.frame += 1
|
|
return new_actuators, can_sends
|
|
|