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169 lines
8.0 KiB
169 lines
8.0 KiB
from common.numpy_fast import clip
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from cereal import car
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from selfdrive.config 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 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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from opendbc.can.packer import CANPacker
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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class CarController():
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def __init__(self, dbc_name, CP, VM):
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self.apply_steer_last = 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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self.steer_rate_limited = False
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self.acc_starting = False
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self.acc_stopping = False
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def update(self, enabled, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart,
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right_lane_depart, lead_visible, set_speed, speed_visible):
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""" Controls thread """
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can_sends = []
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# **** Acceleration and Braking Controls ******************************** #
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if CS.CP.openpilotLongitudinalControl:
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if frame % P.ACC_CONTROL_STEP == 0:
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if CS.tsk_status in [2, 3, 4, 5]:
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acc_status = 3 if enabled else 2
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else:
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acc_status = CS.tsk_status
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accel = clip(actuators.accel, P.ACCEL_MIN, P.ACCEL_MAX) if enabled else 0
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# FIXME: this needs to become a proper state machine
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acc_hold_request, acc_hold_release, acc_hold_type, stopping_distance = False, False, 0, 20.46
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if actuators.longControlState == LongCtrlState.stopping and CS.out.vEgo < 0.2:
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self.acc_stopping = True
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acc_hold_request = True
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if CS.esp_hold_confirmation:
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acc_hold_type = 1 # hold
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stopping_distance = 3.5
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else:
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acc_hold_type = 3 # hold_standby
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stopping_distance = 0.5
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elif enabled:
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if self.acc_stopping:
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self.acc_starting = True
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self.acc_stopping = False
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self.acc_starting &= CS.out.vEgo < 1.5
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acc_hold_release = self.acc_starting
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acc_hold_type = 4 if self.acc_starting and CS.out.vEgo < 0.1 else 0 # startup
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else:
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self.acc_stopping, self.acc_starting = False, False
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cb_pos = 0.0 if lead_visible or CS.out.vEgo < 2.0 else 0.1 # react faster to lead cars, also don't get hung up at DSG clutch release/kiss points when creeping to stop
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cb_neg = 0.0 if accel < 0 else 0.2 # IDK why, but stock likes to zero this out when accel is negative
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secondary_accel = accel if lead_visible else 0 # try matching part of stock behavior, presumably drag/compression brake only if we can get away with it
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idx = (frame / P.ACC_CONTROL_STEP) % 16
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can_sends.append(volkswagencan.create_mqb_acc_06_control(self.packer_pt, CANBUS.pt, enabled, acc_status,
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accel, secondary_accel, self.acc_stopping, self.acc_starting,
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cb_pos, cb_neg, idx))
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can_sends.append(volkswagencan.create_mqb_acc_07_control(self.packer_pt, CANBUS.pt, enabled,
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accel, acc_hold_request, acc_hold_release,
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acc_hold_type, stopping_distance, idx))
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if frame % P.ACC_HUD_STEP == 0:
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idx = (frame / P.ACC_HUD_STEP) % 16
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can_sends.append(volkswagencan.create_mqb_acc_02_control(self.packer_pt, CANBUS.pt, CS.tsk_status,
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set_speed * CV.MS_TO_KPH, speed_visible, lead_visible, idx))
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can_sends.append(volkswagencan.create_mqb_acc_04_control(self.packer_pt, CANBUS.pt, CS.acc_04_stock_values, idx))
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# **** Steering Controls ************************************************ #
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if 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 enabled and CS.out.vEgo > CS.CP.minSteerSpeed and not (CS.out.standstill or CS.out.steerError or CS.out.steerWarning):
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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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self.steer_rate_limited = new_steer != apply_steer
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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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idx = (frame / P.HCA_STEP) % 16
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can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
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idx, hcaEnabled))
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# **** HUD Controls ***************************************************** #
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if frame % P.LDW_STEP == 0:
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if visual_alert 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, enabled,
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CS.out.steeringPressed, hud_alert, left_lane_visible,
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right_lane_visible, CS.ldw_stock_values,
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left_lane_depart, right_lane_depart))
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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 CS.CP.pcmCruise:
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if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
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if not enabled and CS.out.cruiseState.enabled:
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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 enabled and CS.esp_hold_confirmation:
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# Blip the Resume button if we're engaged at standstill.
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# FIXME: This is a naive implementation, improve with visiond or radar input.
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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 = 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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return can_sends
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