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