74 lines
2.6 KiB
Python
74 lines
2.6 KiB
Python
#from common.numpy_fast import clip
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from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.subaru import subarucan
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from selfdrive.car.subaru.values import DBC
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from opendbc.can.packer import CANPacker
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class CarControllerParams():
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def __init__(self, car_fingerprint):
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self.STEER_MAX = 2047 # max_steer 4095
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self.STEER_STEP = 2 # how often we update the steer cmd
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self.STEER_DELTA_UP = 50 # torque increase per refresh, 0.8s to max
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self.STEER_DELTA_DOWN = 70 # torque decrease per refresh
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self.STEER_DRIVER_ALLOWANCE = 60 # allowed driver torque before start limiting
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self.STEER_DRIVER_MULTIPLIER = 10 # weight driver torque heavily
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self.STEER_DRIVER_FACTOR = 1 # from dbc
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class CarController():
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def __init__(self, car_fingerprint):
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self.lkas_active = False
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self.steer_idx = 0
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self.apply_steer_last = 0
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self.car_fingerprint = car_fingerprint
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self.es_distance_cnt = -1
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self.es_lkas_cnt = -1
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self.steer_rate_limited = False
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# Setup detection helper. Routes commands to
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# an appropriate CAN bus number.
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self.params = CarControllerParams(car_fingerprint)
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self.packer = CANPacker(DBC[car_fingerprint]['pt'])
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line):
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""" Controls thread """
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P = self.params
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# Send CAN commands.
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can_sends = []
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### STEER ###
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if (frame % P.STEER_STEP) == 0:
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final_steer = actuators.steer if enabled else 0.
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apply_steer = int(round(final_steer * P.STEER_MAX))
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# limits due to driver torque
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new_steer = int(round(apply_steer))
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.steer_torque_driver, P)
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self.steer_rate_limited = new_steer != apply_steer
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lkas_enabled = enabled and not CS.steer_not_allowed
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if not lkas_enabled:
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apply_steer = 0
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can_sends.append(subarucan.create_steering_control(self.packer, CS.CP.carFingerprint, apply_steer, frame, P.STEER_STEP))
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self.apply_steer_last = apply_steer
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if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
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can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
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self.es_distance_cnt = CS.es_distance_msg["Counter"]
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if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
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can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, visual_alert, left_line, right_line))
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self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
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return can_sends
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