mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-05 13:32:05 +08:00
Shane Smiskol
ee03d13529
* format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs old-commit-hash: 71f5c441fe32184d94a9f26565a36c661e2ccf28
86 lines
3.3 KiB
Python
86 lines
3.3 KiB
Python
from opendbc.can.packer import CANPacker
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from openpilot.common.realtime import DT_CTRL
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from openpilot.selfdrive.car import apply_meas_steer_torque_limits
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from openpilot.selfdrive.car.chrysler import chryslercan
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from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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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.apply_steer_last = 0
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self.frame = 0
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self.hud_count = 0
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self.last_lkas_falling_edge = 0
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self.lkas_control_bit_prev = False
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self.last_button_frame = 0
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self.packer = CANPacker(dbc_name)
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self.params = CarControllerParams(CP)
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def update(self, CC, CS, now_nanos):
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can_sends = []
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lkas_active = CC.latActive and self.lkas_control_bit_prev
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# cruise buttons
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if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
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das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
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# ACC cancellation
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if CC.cruiseControl.cancel:
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self.last_button_frame = self.frame
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can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
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# ACC resume from standstill
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elif CC.cruiseControl.resume:
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self.last_button_frame = self.frame
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can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
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# HUD alerts
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if self.frame % 25 == 0:
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if CS.lkas_car_model != -1:
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can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
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self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
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self.hud_count += 1
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# steering
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if self.frame % self.params.STEER_STEP == 0:
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# TODO: can we make this more sane? why is it different for all the cars?
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lkas_control_bit = self.lkas_control_bit_prev
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if CS.out.vEgo > self.CP.minSteerSpeed:
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lkas_control_bit = True
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elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
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lkas_control_bit = False
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elif self.CP.carFingerprint in RAM_CARS:
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if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
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lkas_control_bit = False
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# EPS faults if LKAS re-enables too quickly
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lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
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if not lkas_control_bit and self.lkas_control_bit_prev:
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self.last_lkas_falling_edge = self.frame
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self.lkas_control_bit_prev = lkas_control_bit
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# steer torque
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new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
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apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
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if not lkas_active or not lkas_control_bit:
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apply_steer = 0
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self.apply_steer_last = apply_steer
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can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
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self.frame += 1
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new_actuators = CC.actuators.as_builder()
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new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
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new_actuators.steerOutputCan = self.apply_steer_last
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return new_actuators, can_sends
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