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100 lines
4.3 KiB
100 lines
4.3 KiB
from cereal import car
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from common.numpy_fast import clip
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_angle_limits
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from selfdrive.car.ford.fordcan import create_acc_command, create_acc_ui_msg, create_button_msg, create_lat_ctl_msg, \
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create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
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from selfdrive.car.ford.values import CANBUS, CANFD_CARS, CarControllerParams
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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.CP = CP
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self.VM = VM
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self.packer = CANPacker(dbc_name)
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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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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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### acc buttons ###
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if CC.cruiseControl.cancel:
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can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True))
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can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
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elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
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can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True))
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can_sends.append(create_button_msg(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
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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(create_button_msg(self.packer, CS.buttons_stock_values, tja_toggle=True))
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### lateral control ###
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# send steering commands 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 limits to curvature and clip to signal range
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apply_curvature = apply_std_steer_angle_limits(actuators.curvature, self.apply_curvature_last, CS.out.vEgo, CarControllerParams)
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apply_curvature = clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
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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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can_sends.append(create_lka_msg(self.packer))
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if self.CP.carFingerprint in CANFD_CARS:
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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
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can_sends.append(create_lat_ctl2_msg(self.packer, mode, 0., 0., -apply_curvature, 0., counter))
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else:
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can_sends.append(create_lat_ctl_msg(self.packer, CC.latActive, 0., 0., -apply_curvature, 0.))
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### longitudinal control ###
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# send acc command at 50Hz
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if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
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accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
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precharge_brake = accel < -0.1
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if accel > -0.5:
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gas = accel
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decel = False
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else:
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gas = -5.0
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decel = True
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can_sends.append(create_acc_command(self.packer, CC.longActive, gas, accel, precharge_brake, decel))
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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 command 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(create_lkas_ui_msg(self.packer, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
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# send acc ui command at 20Hz or if ui state changes
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if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
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can_sends.append(create_acc_ui_msg(self.packer, main_on, CC.latActive, hud_control, 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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new_actuators = actuators.copy()
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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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