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115 lines
4.7 KiB
115 lines
4.7 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.volkswagen import volkswagencan
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from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
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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.apply_steer_last = 0
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self.frame = 0
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self.packer_pt = CANPacker(DBC_FILES.mqb)
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self.hcaSameTorqueCount = 0
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self.hcaEnabledFrameCount = 0
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self.graButtonStatesToSend = None
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self.graMsgSentCount = 0
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self.graMsgStartFramePrev = 0
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self.graMsgBusCounterPrev = 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 % P.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 * P.STEER_MAX))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
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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 / P.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 / P.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(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
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# **** HUD Controls ***************************************************** #
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if self.frame % P.LDW_STEP == 0:
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if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
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hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
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else:
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hud_alert = MQB_LDW_MESSAGES["none"]
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can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
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CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
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hud_control.rightLaneVisible, CS.ldw_stock_values,
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hud_control.leftLaneDepart, hud_control.rightLaneDepart))
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# **** ACC Button Controls ********************************************** #
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# FIXME: this entire section is in desperate need of refactoring
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if self.CP.pcmCruise:
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if self.frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
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if CC.cruiseControl.cancel:
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# Cancel ACC if it's engaged with OP disengaged.
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self.graButtonStatesToSend = BUTTON_STATES.copy()
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self.graButtonStatesToSend["cancel"] = True
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elif CC.cruiseControl.resume:
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# Send Resume button when planner wants car to move
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self.graButtonStatesToSend = BUTTON_STATES.copy()
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self.graButtonStatesToSend["resumeCruise"] = True
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if CS.graMsgBusCounter != self.graMsgBusCounterPrev:
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self.graMsgBusCounterPrev = CS.graMsgBusCounter
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if self.graButtonStatesToSend is not None:
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if self.graMsgSentCount == 0:
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self.graMsgStartFramePrev = self.frame
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idx = (CS.graMsgBusCounter + 1) % 16
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can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
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self.graMsgSentCount += 1
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if self.graMsgSentCount >= P.GRA_VBP_COUNT:
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self.graButtonStatesToSend = None
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self.graMsgSentCount = 0
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new_actuators = actuators.copy()
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new_actuators.steer = self.apply_steer_last / P.STEER_MAX
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self.frame += 1
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return new_actuators, can_sends
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