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120 lines
5.9 KiB
120 lines
5.9 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from openpilot.common.numpy_fast import clip
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from openpilot.selfdrive.car import apply_std_steer_angle_limits
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from openpilot.selfdrive.car.ford import fordcan
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from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
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LongCtrlState = car.CarControl.Actuators.LongControlState
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
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# No blending at low speed due to lack of torque wind-up and inaccurate current curvature
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if v_ego_raw > 9:
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apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
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current_curvature + CarControllerParams.CURVATURE_ERROR)
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# Curvature rate limit after driver torque limit
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apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
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return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.VM = VM
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self.packer = CANPacker(dbc_name)
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self.CAN = fordcan.CanBus(CP)
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self.frame = 0
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self.apply_curvature_last = 0
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self.main_on_last = False
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self.lkas_enabled_last = False
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self.steer_alert_last = False
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self.lead_distance_bars_last = None
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def update(self, CC, CS, now_nanos):
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can_sends = []
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actuators = CC.actuators
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hud_control = CC.hudControl
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main_on = CS.out.cruiseState.available
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steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
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fcw_alert = hud_control.visualAlert == VisualAlert.fcw
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### acc buttons ###
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if CC.cruiseControl.cancel:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
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elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
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# if stock lane centering isn't off, send a button press to toggle it off
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# the stock system checks for steering pressed, and eventually disengages cruise control
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elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
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can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
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### lateral control ###
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# send steer msg at 20Hz
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if (self.frame % CarControllerParams.STEER_STEP) == 0:
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if CC.latActive:
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# apply rate limits, curvature error limit, and clip to signal range
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current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
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apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
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else:
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apply_curvature = 0.
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self.apply_curvature_last = apply_curvature
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if self.CP.flags & FordFlags.CANFD:
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# TODO: extended mode
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mode = 1 if CC.latActive else 0
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counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
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can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
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else:
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can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
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# send lka msg at 33Hz
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if (self.frame % CarControllerParams.LKA_STEP) == 0:
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can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
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### longitudinal control ###
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# send acc msg at 50Hz
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if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
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# Both gas and accel are in m/s^2, accel is used solely for braking
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accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
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gas = accel
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if not CC.longActive or gas < CarControllerParams.MIN_GAS:
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gas = CarControllerParams.INACTIVE_GAS
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stopping = CC.actuators.longControlState == LongCtrlState.stopping
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can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
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### ui ###
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send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
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# send lkas ui msg at 1Hz or if ui state changes
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if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
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can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
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# send acc ui msg at 5Hz or if ui state changes
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if hud_control.leadDistanceBars != self.lead_distance_bars_last:
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send_ui = True
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if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
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can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
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fcw_alert, CS.out.cruiseState.standstill, hud_control,
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CS.acc_tja_status_stock_values))
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self.main_on_last = main_on
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self.lkas_enabled_last = CC.latActive
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self.steer_alert_last = steer_alert
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self.lead_distance_bars_last = hud_control.leadDistanceBars
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new_actuators = actuators.as_builder()
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new_actuators.curvature = self.apply_curvature_last
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self.frame += 1
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return new_actuators, can_sends
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