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127 lines
6.0 KiB
127 lines
6.0 KiB
from openpilot.common.numpy_fast import clip, interp
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
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from openpilot.selfdrive.car.subaru import subarucan
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from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
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# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
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# involves the total steering angle change rather than rate, but these limits work well for now
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MAX_STEER_RATE = 25 # deg/s
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MAX_STEER_RATE_FRAMES = 7 # tx control frames needed before torque can be cut
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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.apply_steer_last = 0
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self.frame = 0
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self.cruise_button_prev = 0
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self.steer_rate_counter = 0
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self.p = CarControllerParams(CP)
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self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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# *** steering ***
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if (self.frame % self.p.STEER_STEP) == 0:
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apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
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# limits due to driver torque
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new_steer = int(round(apply_steer))
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apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
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if not CC.latActive:
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apply_steer = 0
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if self.CP.carFingerprint in PREGLOBAL_CARS:
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can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
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else:
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apply_steer_req = CC.latActive
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if self.CP.carFingerprint in STEER_RATE_LIMITED:
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# Steering rate fault prevention
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self.steer_rate_counter, apply_steer_req = \
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common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
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self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
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can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
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self.apply_steer_last = apply_steer
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# *** longitudinal ***
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if CC.longActive:
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apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V)))
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apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V)))
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apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V)))
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# limit min and max values
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cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX)
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cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX)
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cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX)
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else:
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cruise_throttle = CarControllerParams.THROTTLE_INACTIVE
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cruise_rpm = CarControllerParams.RPM_MIN
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cruise_brake = CarControllerParams.BRAKE_MIN
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# *** alerts and pcm cancel ***
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if self.CP.carFingerprint in PREGLOBAL_CARS:
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if self.frame % 5 == 0:
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# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
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# disengage ACC when OP is disengaged
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if pcm_cancel_cmd:
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cruise_button = 1
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# turn main on if off and past start-up state
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elif not CS.out.cruiseState.available and CS.ready:
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cruise_button = 1
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else:
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cruise_button = CS.cruise_button
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# unstick previous mocked button press
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if cruise_button == 1 and self.cruise_button_prev == 1:
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cruise_button = 0
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self.cruise_button_prev = cruise_button
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can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
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else:
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if self.frame % 10 == 0:
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can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
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CC.longActive, hud_control.leadVisible))
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can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
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hud_control.leftLaneVisible, hud_control.rightLaneVisible,
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hud_control.leftLaneDepart, hud_control.rightLaneDepart))
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if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
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can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
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if self.CP.openpilotLongitudinalControl:
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if self.frame % 5 == 0:
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can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
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self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
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can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
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can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
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self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
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else:
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if pcm_cancel_cmd:
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if self.CP.carFingerprint not in HYBRID_CARS:
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bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
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can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
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new_actuators = actuators.copy()
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new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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self.frame += 1
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return new_actuators, can_sends
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