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66 lines
2.8 KiB
66 lines
2.8 KiB
from openpilot.common.numpy_fast import clip
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_std_steer_angle_limits
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from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
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from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
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class CarController:
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.frame = 0
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_name)
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self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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# Temp disable steering on a hands_on_fault, and allow for user override
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hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
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lkas_enabled = CC.latActive and not hands_on_fault
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if self.frame % 2 == 0:
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if lkas_enabled:
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# Angular rate limit based on speed
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apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
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# To not fault the EPS
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apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.apply_angle_last = apply_angle
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can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
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# Longitudinal control (in sync with stock message, about 40Hz)
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if self.CP.openpilotLongitudinalControl:
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target_accel = actuators.accel
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target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
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max_accel = 0 if target_accel < 0 else target_accel
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min_accel = 0 if target_accel > 0 else target_accel
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while len(CS.das_control_counters) > 0:
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can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
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# Cancel on user steering override, since there is no steering torque blending
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if hands_on_fault:
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pcm_cancel_cmd = True
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if self.frame % 10 == 0 and pcm_cancel_cmd:
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# Spam every possible counter value, otherwise it might not be accepted
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for counter in range(16):
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
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# TODO: HUD control
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new_actuators = actuators.copy()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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self.frame += 1
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return new_actuators, can_sends
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