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105 lines
4.8 KiB
105 lines
4.8 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from common.numpy_fast import clip
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from common.conversions import Conversions as CV
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.volkswagen import mqbcan, pqcan
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from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, 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.CCP = CarControllerParams(CP)
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self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan
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self.packer_pt = CANPacker(dbc_name)
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self.apply_steer_last = 0
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self.frame = 0
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self.hcaSameTorqueCount = 0
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self.hcaEnabledFrameCount = 0
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def update(self, CC, CS, ext_bus):
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actuators = CC.actuators
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hud_control = CC.hudControl
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can_sends = []
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# **** Steering Controls ************************************************ #
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if self.frame % self.CCP.HCA_STEP == 0:
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# Logic to avoid HCA state 4 "refused":
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# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
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# * Don't steer at standstill
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# * Don't send > 3.00 Newton-meters torque
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# * Don't send the same torque for > 6 seconds
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# * Don't send uninterrupted steering for > 360 seconds
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# One frame of HCA disabled is enough to reset the timer, without zeroing the
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# torque value. Do that anytime we happen to have 0 torque, or failing that,
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# when exceeding ~1/3 the 360 second timer.
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if CC.latActive:
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new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
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if apply_steer == 0:
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hcaEnabled = False
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self.hcaEnabledFrameCount = 0
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else:
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self.hcaEnabledFrameCount += 1
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if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP): # 118s
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hcaEnabled = False
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self.hcaEnabledFrameCount = 0
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else:
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hcaEnabled = True
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if self.apply_steer_last == apply_steer:
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self.hcaSameTorqueCount += 1
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if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP): # 1.9s
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apply_steer -= (1, -1)[apply_steer < 0]
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self.hcaSameTorqueCount = 0
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else:
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self.hcaSameTorqueCount = 0
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else:
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hcaEnabled = False
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apply_steer = 0
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self.apply_steer_last = apply_steer
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can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
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# **** Acceleration Controls ******************************************** #
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if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
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tsk_status = self.CCS.tsk_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
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accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
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can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, tsk_status, accel))
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# **** HUD Controls ***************************************************** #
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if self.frame % self.CCP.LDW_STEP == 0:
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hud_alert = 0
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if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
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hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
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can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.enabled,
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CS.out.steeringPressed, hud_alert, hud_control))
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if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
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acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
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set_speed = hud_control.setSpeed * CV.MS_TO_KPH # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
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can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
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hud_control.leadVisible))
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# **** Stock ACC Button Controls **************************************** #
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if self.CP.pcmCruise and self.frame % self.CCP.GRA_ACC_STEP == 0:
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idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
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if CC.cruiseControl.cancel:
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can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
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elif CC.cruiseControl.resume:
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can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
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new_actuators = actuators.copy()
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new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
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self.frame += 1
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return new_actuators, can_sends
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