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105 lines
4.3 KiB
105 lines
4.3 KiB
import math
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from cereal import car
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from common.numpy_fast import clip, interp
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from opendbc.can.packer import CANPacker
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from selfdrive.car.ford import fordcan
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from selfdrive.car.ford.values import CarControllerParams
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
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# rate limit
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steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
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rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
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max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
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apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
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# absolute limit (LatCtlPath_An_Actl)
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apply_path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO
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apply_path_angle = clip(apply_path_angle, -0.4995, 0.5240)
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apply_angle = math.degrees(apply_path_angle) * CarControllerParams.STEER_RATIO
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return apply_angle
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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_angle_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):
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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(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True))
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elif CC.cruiseControl.resume:
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can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True))
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# if stock lane centering is active or in standby, toggle it off
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# the stock system checks for steering pressed, and eventually disengages cruise control
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if (self.frame % 200) == 0 and CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0:
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can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True))
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### lateral control ###
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if CC.latActive:
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apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
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else:
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apply_angle = CS.out.steeringAngleDeg
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# send steering commands at 20Hz
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if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
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lca_rq = 1 if CC.latActive else 0
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# use LatCtlPath_An_Actl to actuate steering
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# path angle is the car wheel angle, not the steering wheel angle
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path_angle = math.radians(apply_angle) / CarControllerParams.STEER_RATIO
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# ramp rate: 0=Slow, 1=Medium, 2=Fast, 3=Immediately
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# TODO: try slower ramp speed when driver torque detected
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ramp_type = 3
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precision = 1 # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
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offset_roll_compensation_curvature = clip(self.VM.calc_curvature(0, CS.out.vEgo, -CS.yaw_data["VehYaw_W_Actl"]), -0.02, 0.02094)
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self.apply_angle_last = apply_angle
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can_sends.append(fordcan.create_lka_command(self.packer, apply_angle, 0))
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can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
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0, path_angle, 0, offset_roll_compensation_curvature))
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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(fordcan.create_lkas_ui_command(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(fordcan.create_acc_ui_command(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.steeringAngleDeg = apply_angle
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self.frame += 1
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return new_actuators, can_sends
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