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66 lines
3.0 KiB
66 lines
3.0 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.mazda import mazdacan
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from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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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.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.brake_counter = 0
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self.frame = 0
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def update(self, CC, CS, now_nanos):
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can_sends = []
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apply_steer = 0
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if CC.latActive:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorque, CarControllerParams)
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if CC.cruiseControl.cancel:
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# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
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# a race condition with the stock system, where the second cancel from openpilot
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# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
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# read 3 messages and most likely sync state before we attempt cancel.
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self.brake_counter = self.brake_counter + 1
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if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
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# Cancel Stock ACC if it's enabled while OP is disengaged
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# Send at a rate of 10hz until we sync with stock ACC state
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can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
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else:
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self.brake_counter = 0
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if CC.cruiseControl.resume and self.frame % 5 == 0:
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# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
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# Send Resume button when planner wants car to move
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can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
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self.apply_steer_last = apply_steer
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# send HUD alerts
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if self.frame % 50 == 0:
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ldw = CC.hudControl.visualAlert == VisualAlert.ldw
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steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
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# TODO: find a way to silence audible warnings so we can add more hud alerts
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steer_required = steer_required and CS.lkas_allowed_speed
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can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
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# send steering command
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can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
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self.frame, apply_steer, CS.cam_lkas))
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new_actuators = CC.actuators.copy()
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new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
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new_actuators.steerOutputCan = apply_steer
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self.frame += 1
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return new_actuators, can_sends
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