76 lines
2.8 KiB
Python
76 lines
2.8 KiB
Python
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, PREGLOBAL_CARS, CarControllerParams
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from opendbc.can.packer import CANPacker
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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.es_distance_cnt = -1
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self.es_accel_cnt = -1
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self.es_lkas_cnt = -1
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self.cruise_button_prev = 0
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self.steer_rate_limited = False
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self.packer = CANPacker(DBC[CP.carFingerprint]['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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can_sends = []
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# *** steering ***
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if (frame % CarControllerParams.STEER_STEP) == 0:
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apply_steer = int(round(actuators.steer * CarControllerParams.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.out.steeringTorque, CarControllerParams)
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self.steer_rate_limited = new_steer != apply_steer
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if not enabled:
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apply_steer = 0
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if CS.CP.carFingerprint in PREGLOBAL_CARS:
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can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
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else:
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can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, CarControllerParams.STEER_STEP))
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self.apply_steer_last = apply_steer
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# *** alerts and pcm cancel ***
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if CS.CP.carFingerprint in PREGLOBAL_CARS:
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if self.es_accel_cnt != CS.es_accel_msg["Counter"]:
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# 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
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# disengage ACC when OP is disengaged
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if pcm_cancel_cmd:
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cruise_button = 1
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# turn main on if off and past start-up state
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elif not CS.out.cruiseState.available and CS.ready:
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cruise_button = 1
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else:
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cruise_button = CS.cruise_button
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# unstick previous mocked button press
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if cruise_button == 1 and self.cruise_button_prev == 1:
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cruise_button = 0
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self.cruise_button_prev = cruise_button
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can_sends.append(subarucan.create_es_throttle_control(self.packer, cruise_button, CS.es_accel_msg))
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self.es_accel_cnt = CS.es_accel_msg["Counter"]
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else:
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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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