66 lines
2.9 KiB
Python
66 lines
2.9 KiB
Python
from common.numpy_fast import clip, interp
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from opendbc.can.packer import CANPacker
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from selfdrive.car.tesla.teslacan import TeslaCAN
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from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
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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.last_angle = 0
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self.long_control_counter = 0
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self.packer = CANPacker(dbc_name)
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self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
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def update(self, enabled, CS, frame, actuators, cruise_cancel):
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can_sends = []
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# Temp disable steering on a hands_on_fault, and allow for user override
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hands_on_fault = (CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3)
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lkas_enabled = enabled and (not hands_on_fault)
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if lkas_enabled:
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apply_angle = actuators.steeringAngleDeg
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# Angular rate limit based on speed
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steer_up = (self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle))
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rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
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max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
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apply_angle = clip(apply_angle, (self.last_angle - max_angle_diff), (self.last_angle + max_angle_diff))
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# To not fault the EPS
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apply_angle = clip(apply_angle, (CS.out.steeringAngleDeg - 20), (CS.out.steeringAngleDeg + 20))
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.last_angle = apply_angle
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can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
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# Longitudinal control (40Hz)
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if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]):
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target_accel = actuators.accel
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target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
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max_accel = 0 if target_accel < 0 else target_accel
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min_accel = 0 if target_accel > 0 else target_accel
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can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, self.long_control_counter))
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self.long_control_counter += 1
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# Cancel on user steering override, since there is no steering torque blending
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if hands_on_fault:
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cruise_cancel = True
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# Cancel when openpilot is not enabled anymore
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if not enabled and bool(CS.out.cruiseState.enabled):
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cruise_cancel = True
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if ((frame % 10) == 0 and cruise_cancel):
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# Spam every possible counter value, otherwise it might not be accepted
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for counter in range(16):
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.chassis, counter))
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.autopilot_chassis, counter))
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# TODO: HUD control
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return can_sends
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