mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-08-19 23:23:42 +08:00
dragonpilot
89 lines
3.1 KiB
Python
89 lines
3.1 KiB
Python
from selfdrive.car import apply_std_steer_torque_limits
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from selfdrive.car.hyundai.hyundaican import create_lkas11, create_clu11
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from selfdrive.car.hyundai.values import Buttons, SteerLimitParams
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from opendbc.can.packer import CANPacker
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from common.params import Params
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params = Params()
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from selfdrive.dragonpilot.dragonconf import dp_get_last_modified
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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.car_fingerprint = CP.carFingerprint
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self.lkas11_cnt = 0
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self.cnt = 0
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self.last_resume_cnt = 0
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self.packer = CANPacker(dbc_name)
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self.steer_rate_limited = False
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# dragonpilot
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self.turning_signal_timer = 0
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self.dragon_enable_steering_on_signal = False
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self.dragon_lat_ctrl = True
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self.dp_last_modified = None
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self.lane_change_enabled = True
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def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
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# dragonpilot, don't check for param too often as it's a kernel call
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if frame % 500 == 0:
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modified = dp_get_last_modified()
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if self.dp_last_modified != modified:
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self.dragon_lat_ctrl = False if params.get("DragonLatCtrl", encoding='utf8') == "0" else True
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if self.dragon_lat_ctrl:
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self.lane_change_enabled = False if params.get("LaneChangeEnabled", encoding='utf8') == "1" else False
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if not self.lane_change_enabled:
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self.dragon_enable_steering_on_signal = True if params.get("DragonEnableSteeringOnSignal", encoding='utf8') == "1" else False
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else:
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self.dragon_enable_steering_on_signal = False
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else:
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self.dragon_enable_steering_on_signal = False
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self.dp_last_modified = modified
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### Steering Torque
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new_steer = actuators.steer * SteerLimitParams.STEER_MAX
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apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, SteerLimitParams)
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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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steer_req = 1 if enabled else 0
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self.apply_steer_last = apply_steer
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can_sends = []
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# dragonpilot
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if enabled:
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if self.dragon_enable_steering_on_signal:
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if not CS.out.leftBlinker and not CS.out.rightBlinker:
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self.turning_signal_timer = 0
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else:
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self.turning_signal_timer = 100
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if self.turning_signal_timer > 0:
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self.turning_signal_timer -= 1
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steer_req = 0
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else:
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self.turning_signal_timer = 0
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if not self.dragon_lat_ctrl:
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steer_req = 0
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self.lkas11_cnt = self.cnt % 0x10
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self.clu11_cnt = self.cnt % 0x10
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can_sends.append(create_lkas11(self.packer, self.car_fingerprint, apply_steer, steer_req, self.lkas11_cnt,
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enabled, CS.lkas11, hud_alert, keep_stock=True))
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if pcm_cancel_cmd:
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.CANCEL))
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elif CS.out.cruiseState.standstill and (self.cnt - self.last_resume_cnt) > 5:
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self.last_resume_cnt = self.cnt
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can_sends.append(create_clu11(self.packer, CS.clu11, Buttons.RES_ACCEL))
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self.cnt += 1
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return can_sends
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