firestar5683
34 lines
1.2 KiB
Python
34 lines
1.2 KiB
Python
import capnp
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import numpy as np
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from abc import abstractmethod, ABC
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from types import SimpleNamespace
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from openpilot.selfdrive.locationd.helpers import Pose
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class LatControl(ABC):
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def __init__(self, CP, CI, dt):
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self.dt = dt
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self.sat_limit = CP.steerLimitTimer
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self.sat_time = 0.
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self.sat_check_min_speed = 10.
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# we define the steer torque scale as [-1.0...1.0]
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self.steer_max = 1.0
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@abstractmethod
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def update(self, active: bool, CS, VM, params, steer_limited_by_safety: bool, desired_curvature: float, curvature_limited: bool, lat_delay: float, calibrated_pose: Pose, model_data: capnp._DynamicStructReader, starpilot_toggles: SimpleNamespace):
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pass
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def reset(self):
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self.sat_time = 0.
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def _check_saturation(self, saturated, CS, steer_limited_by_safety, curvature_limited):
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# Saturated only if control output is not being limited by car torque/angle rate limits
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if (saturated or curvature_limited) and CS.vEgo > self.sat_check_min_speed and not steer_limited_by_safety and not CS.steeringPressed:
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self.sat_time += self.dt
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else:
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self.sat_time -= self.dt
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self.sat_time = np.clip(self.sat_time, 0.0, self.sat_limit)
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return self.sat_time > (self.sat_limit - 1e-3)
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