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91 lines
3.6 KiB
91 lines
3.6 KiB
from cereal import car
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from common.numpy_fast import clip, interp
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from selfdrive.car.nissan import nissancan
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from opendbc.can.packer import CANPacker
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from selfdrive.car.nissan.values import CAR, CarControllerParams
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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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.car_fingerprint = CP.carFingerprint
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self.lkas_max_torque = 0
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self.last_angle = 0
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self.packer = CANPacker(dbc_name)
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def update(self, c, enabled, CS, frame, actuators, cruise_cancel, hud_alert,
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left_line, right_line, left_lane_depart, right_lane_depart):
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can_sends = []
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### STEER ###
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acc_active = CS.out.cruiseState.enabled
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lkas_hud_msg = CS.lkas_hud_msg
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lkas_hud_info_msg = CS.lkas_hud_info_msg
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apply_angle = actuators.steeringAngleDeg
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steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
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if c.active:
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# # windup slower
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if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
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angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
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else:
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angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
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apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel
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self.lkas_max_torque = max(
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# Scale max torque down to half LKAX_MAX_TORQUE as a minimum
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CarControllerParams.LKAS_MAX_TORQUE * 0.5,
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# Start scaling torque at STEER_THRESHOLD
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CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
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)
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.lkas_max_torque = 0
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self.last_angle = apply_angle
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if not enabled and acc_active:
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# send acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
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cruise_cancel = 1
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if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
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can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
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# TODO: Find better way to cancel!
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# For some reason spamming the cancel button is unreliable on the Leaf
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# We now cancel by making propilot think the seatbelt is unlatched,
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# this generates a beep and a warning message every time you disengage
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if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
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can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
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can_sends.append(nissancan.create_steering_control(
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self.packer, apply_angle, frame, enabled, self.lkas_max_torque))
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if lkas_hud_msg and lkas_hud_info_msg:
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if frame % 2 == 0:
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can_sends.append(nissancan.create_lkas_hud_msg(
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self.packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart))
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if frame % 50 == 0:
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can_sends.append(nissancan.create_lkas_hud_info_msg(
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self.packer, lkas_hud_info_msg, steer_hud_alert
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))
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new_actuators = actuators.copy()
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new_actuators.steeringAngleDeg = apply_angle
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return new_actuators, can_sends
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