You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
177 lines
8.6 KiB
177 lines
8.6 KiB
from cereal import car
|
|
from common.conversions import Conversions as CV
|
|
from common.numpy_fast import interp
|
|
from common.realtime import DT_CTRL
|
|
from opendbc.can.packer import CANPacker
|
|
from selfdrive.car import apply_driver_steer_torque_limits
|
|
from selfdrive.car.gm import gmcan
|
|
from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
|
|
|
|
VisualAlert = car.CarControl.HUDControl.VisualAlert
|
|
NetworkLocation = car.CarParams.NetworkLocation
|
|
LongCtrlState = car.CarControl.Actuators.LongControlState
|
|
|
|
# Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
|
|
CAMERA_CANCEL_DELAY_FRAMES = 10
|
|
# Enforce a minimum interval between steering messages to avoid a fault
|
|
MIN_STEER_MSG_INTERVAL_MS = 15
|
|
|
|
|
|
class CarController:
|
|
def __init__(self, dbc_name, CP, VM):
|
|
self.CP = CP
|
|
self.start_time = 0.
|
|
self.apply_steer_last = 0
|
|
self.apply_gas = 0
|
|
self.apply_brake = 0
|
|
self.frame = 0
|
|
self.last_steer_frame = 0
|
|
self.last_button_frame = 0
|
|
self.cancel_counter = 0
|
|
|
|
self.lka_steering_cmd_counter = 0
|
|
self.lka_icon_status_last = (False, False)
|
|
|
|
self.params = CarControllerParams(self.CP)
|
|
|
|
self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
|
|
self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
|
|
self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
|
|
|
|
def update(self, CC, CS, now_nanos):
|
|
actuators = CC.actuators
|
|
hud_control = CC.hudControl
|
|
hud_alert = hud_control.visualAlert
|
|
hud_v_cruise = hud_control.setSpeed
|
|
if hud_v_cruise > 70:
|
|
hud_v_cruise = 0
|
|
|
|
# Send CAN commands.
|
|
can_sends = []
|
|
|
|
# Steering (Active: 50Hz, inactive: 10Hz)
|
|
steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
|
|
|
|
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
|
# Also send at 50Hz:
|
|
# - on startup, first few msgs are blocked
|
|
# - until we're in sync with camera so counters align when relay closes, preventing a fault.
|
|
# openpilot can subtly drift, so this is activated throughout a drive to stay synced
|
|
out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
|
|
if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
|
|
steer_step = self.params.STEER_STEP
|
|
|
|
self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
|
|
|
|
# Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
|
|
# received the ASCMLKASteeringCmd loopback confirmation too recently
|
|
last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
|
|
if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
|
|
# Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
|
|
if CS.loopback_lka_steering_cmd_ts_nanos == 0:
|
|
self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
|
|
|
|
if CC.latActive:
|
|
new_steer = int(round(actuators.steer * self.params.STEER_MAX))
|
|
apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
|
|
else:
|
|
apply_steer = 0
|
|
|
|
self.last_steer_frame = self.frame
|
|
self.apply_steer_last = apply_steer
|
|
idx = self.lka_steering_cmd_counter % 4
|
|
can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive))
|
|
|
|
if self.CP.openpilotLongitudinalControl:
|
|
# Gas/regen, brakes, and UI commands - all at 25Hz
|
|
if self.frame % 4 == 0:
|
|
stopping = actuators.longControlState == LongCtrlState.stopping
|
|
if not CC.longActive:
|
|
# ASCM sends max regen when not enabled
|
|
self.apply_gas = self.params.INACTIVE_REGEN
|
|
self.apply_brake = 0
|
|
else:
|
|
self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
|
|
self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
|
|
# Don't allow any gas above inactive regen while stopping
|
|
# FIXME: brakes aren't applied immediately when enabling at a stop
|
|
if stopping:
|
|
self.apply_gas = self.params.INACTIVE_REGEN
|
|
|
|
idx = (self.frame // 4) % 4
|
|
|
|
at_full_stop = CC.longActive and CS.out.standstill
|
|
near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
|
|
friction_brake_bus = CanBus.CHASSIS
|
|
# GM Camera exceptions
|
|
# TODO: can we always check the longControlState?
|
|
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
|
at_full_stop = at_full_stop and stopping
|
|
friction_brake_bus = CanBus.POWERTRAIN
|
|
|
|
# GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
|
|
can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
|
|
can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
|
|
|
|
# Send dashboard UI commands (ACC status)
|
|
send_fcw = hud_alert == VisualAlert.fcw
|
|
can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
|
|
hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
|
|
|
|
# Radar needs to know current speed and yaw rate (50hz),
|
|
# and that ADAS is alive (10hz)
|
|
if not self.CP.radarUnavailable:
|
|
tt = self.frame * DT_CTRL
|
|
time_and_headlights_step = 10
|
|
if self.frame % time_and_headlights_step == 0:
|
|
idx = (self.frame // time_and_headlights_step) % 4
|
|
can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
|
|
can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
|
|
|
|
speed_and_accelerometer_step = 2
|
|
if self.frame % speed_and_accelerometer_step == 0:
|
|
idx = (self.frame // speed_and_accelerometer_step) % 4
|
|
can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
|
|
can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
|
|
|
|
if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
|
|
can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
|
|
|
|
else:
|
|
# While car is braking, cancel button causes ECM to enter a soft disable state with a fault status.
|
|
# A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly
|
|
self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
|
|
|
|
# Stock longitudinal, integrated at camera
|
|
if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
|
|
if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES:
|
|
self.last_button_frame = self.frame
|
|
can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL))
|
|
|
|
if self.CP.networkLocation == NetworkLocation.fwdCamera:
|
|
# Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1
|
|
if self.frame % 10 == 0:
|
|
can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status))
|
|
|
|
# Show green icon when LKA torque is applied, and
|
|
# alarming orange icon when approaching torque limit.
|
|
# If not sent again, LKA icon disappears in about 5 seconds.
|
|
# Conveniently, sending camera message periodically also works as a keepalive.
|
|
lka_active = CS.lkas_status == 1
|
|
lka_critical = lka_active and abs(actuators.steer) > 0.9
|
|
lka_icon_status = (lka_active, lka_critical)
|
|
|
|
# SW_GMLAN not yet on cam harness, no HUD alerts
|
|
if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
|
|
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
|
|
can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
|
|
self.lka_icon_status_last = lka_icon_status
|
|
|
|
new_actuators = actuators.copy()
|
|
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
|
|
new_actuators.steerOutputCan = self.apply_steer_last
|
|
new_actuators.gas = self.apply_gas
|
|
new_actuators.brake = self.apply_brake
|
|
|
|
self.frame += 1
|
|
return new_actuators, can_sends
|
|
|