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121 lines
6.5 KiB
121 lines
6.5 KiB
from cereal import car
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from opendbc.can.packer import CANPacker
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from openpilot.common.numpy_fast import clip
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
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from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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LongCtrlState = car.CarControl.Actuators.LongControlState
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class CarController(CarControllerBase):
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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.flags & VolkswagenFlags.PQ else mqbcan
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self.packer_pt = CANPacker(dbc_name)
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self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
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self.apply_steer_last = 0
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self.gra_acc_counter_last = None
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self.frame = 0
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self.eps_timer_soft_disable_alert = False
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self.hca_frame_timer_running = 0
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self.hca_frame_same_torque = 0
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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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can_sends = []
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# **** Steering Controls ************************************************ #
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if self.frame % self.CCP.STEER_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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# MQB racks reset the uninterrupted steering timer after a single frame
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# of HCA disabled; this is done whenever output happens to be zero.
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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_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
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self.hca_frame_timer_running += self.CCP.STEER_STEP
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if self.apply_steer_last == apply_steer:
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self.hca_frame_same_torque += self.CCP.STEER_STEP
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if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
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apply_steer -= (1, -1)[apply_steer < 0]
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self.hca_frame_same_torque = 0
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else:
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self.hca_frame_same_torque = 0
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hca_enabled = abs(apply_steer) > 0
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else:
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hca_enabled = False
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apply_steer = 0
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if not hca_enabled:
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self.hca_frame_timer_running = 0
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self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
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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, hca_enabled))
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if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
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# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
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# to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
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# consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
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ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
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if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
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ea_simulated_torque = CS.out.steeringTorque
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can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
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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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acc_control = self.CCS.acc_control_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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stopping = actuators.longControlState == LongCtrlState.stopping
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starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
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can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
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acc_control, stopping, starting, CS.esp_hold_confirmation))
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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.latActive,
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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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lead_distance = 0
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if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
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lead_distance = 512 if CS.upscale_lead_car_signal else 8
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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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# FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
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set_speed = hud_control.setSpeed * CV.MS_TO_KPH
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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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lead_distance, hud_control.leadDistanceBars))
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# **** Stock ACC Button Controls **************************************** #
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gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
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if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
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can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
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cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
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new_actuators = actuators.as_builder()
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new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
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self.frame += 1
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return new_actuators, can_sends
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