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.
144 lines
6.8 KiB
144 lines
6.8 KiB
from openpilot.common.numpy_fast import clip, interp
|
|
from opendbc.can.packer import CANPacker
|
|
from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
|
|
from openpilot.selfdrive.car.interfaces import CarControllerBase
|
|
from openpilot.selfdrive.car.subaru import subarucan
|
|
from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
|
|
|
|
# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
|
|
# involves the total steering angle change rather than rate, but these limits work well for now
|
|
MAX_STEER_RATE = 25 # deg/s
|
|
MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
|
|
|
|
|
|
class CarController(CarControllerBase):
|
|
def __init__(self, dbc_name, CP, VM):
|
|
self.CP = CP
|
|
self.apply_steer_last = 0
|
|
self.frame = 0
|
|
|
|
self.cruise_button_prev = 0
|
|
self.steer_rate_counter = 0
|
|
|
|
self.p = CarControllerParams(CP)
|
|
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
|
|
|
|
def update(self, CC, CS, now_nanos):
|
|
actuators = CC.actuators
|
|
hud_control = CC.hudControl
|
|
pcm_cancel_cmd = CC.cruiseControl.cancel
|
|
|
|
can_sends = []
|
|
|
|
# *** steering ***
|
|
if (self.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_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
|
|
|
|
if not CC.latActive:
|
|
apply_steer = 0
|
|
|
|
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
|
can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
|
|
else:
|
|
apply_steer_req = CC.latActive
|
|
|
|
if self.CP.flags & SubaruFlags.STEER_RATE_LIMITED:
|
|
# Steering rate fault prevention
|
|
self.steer_rate_counter, apply_steer_req = \
|
|
common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
|
|
self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
|
|
|
|
can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
|
|
|
|
self.apply_steer_last = apply_steer
|
|
|
|
# *** longitudinal ***
|
|
|
|
if CC.longActive:
|
|
apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V)))
|
|
apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V)))
|
|
apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V)))
|
|
|
|
# limit min and max values
|
|
cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX)
|
|
cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX)
|
|
cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX)
|
|
else:
|
|
cruise_throttle = CarControllerParams.THROTTLE_INACTIVE
|
|
cruise_rpm = CarControllerParams.RPM_MIN
|
|
cruise_brake = CarControllerParams.BRAKE_MIN
|
|
|
|
# *** alerts and pcm cancel ***
|
|
if self.CP.flags & SubaruFlags.PREGLOBAL:
|
|
if self.frame % 5 == 0:
|
|
# 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))
|
|
|
|
else:
|
|
if self.frame % 10 == 0:
|
|
can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
|
|
self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible))
|
|
|
|
can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
|
|
hud_control.leftLaneVisible, hud_control.rightLaneVisible,
|
|
hud_control.leftLaneDepart, hud_control.rightLaneDepart))
|
|
|
|
if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
|
|
can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
|
|
|
|
if self.CP.openpilotLongitudinalControl:
|
|
if self.frame % 5 == 0:
|
|
can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
|
|
self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
|
|
|
|
can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg,
|
|
self.CP.openpilotLongitudinalControl, CC.longActive, cruise_brake))
|
|
|
|
can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
|
|
self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
|
|
else:
|
|
if pcm_cancel_cmd:
|
|
if not (self.CP.flags & SubaruFlags.HYBRID):
|
|
bus = CanBus.alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else CanBus.main
|
|
can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
|
|
|
|
if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
|
|
# Tester present (keeps eyesight disabled)
|
|
if self.frame % 100 == 0:
|
|
can_sends.append([GLOBAL_ES_ADDR, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", CanBus.camera])
|
|
|
|
# Create all of the other eyesight messages to keep the rest of the car happy when eyesight is disabled
|
|
if self.frame % 5 == 0:
|
|
can_sends.append(subarucan.create_es_highbeamassist(self.packer))
|
|
|
|
if self.frame % 10 == 0:
|
|
can_sends.append(subarucan.create_es_static_1(self.packer))
|
|
|
|
if self.frame % 2 == 0:
|
|
can_sends.append(subarucan.create_es_static_2(self.packer))
|
|
|
|
new_actuators = actuators.as_builder()
|
|
new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
|
|
new_actuators.steerOutputCan = self.apply_steer_last
|
|
|
|
self.frame += 1
|
|
return new_actuators, can_sends
|
|
|