from opendbc.can.packer import CANPacker
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_meas_steer_torque_limits
from openpilot.selfdrive.car.chrysler import chryslercan
from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
from openpilot.selfdrive.car.interfaces import CarControllerBase
[docs]
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.frame = 0
self.hud_count = 0
self.last_lkas_falling_edge = 0
self.lkas_control_bit_prev = False
self.last_button_frame = 0
self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP)
[docs]
def update(self, CC, CS, now_nanos):
can_sends = []
lkas_active = CC.latActive and self.lkas_control_bit_prev
# cruise buttons
if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
# ACC cancellation
if CC.cruiseControl.cancel:
self.last_button_frame = self.frame
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
# ACC resume from standstill
elif CC.cruiseControl.resume:
self.last_button_frame = self.frame
can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
# HUD alerts
if self.frame % 25 == 0:
if CS.lkas_car_model != -1:
can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
self.hud_count += 1
# steering
if self.frame % self.params.STEER_STEP == 0:
# TODO: can we make this more sane? why is it different for all the cars?
lkas_control_bit = self.lkas_control_bit_prev
if CS.out.vEgo > self.CP.minSteerSpeed:
lkas_control_bit = True
elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
lkas_control_bit = False
elif self.CP.carFingerprint in RAM_CARS:
if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
lkas_control_bit = False
# EPS faults if LKAS re-enables too quickly
lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
if not lkas_control_bit and self.lkas_control_bit_prev:
self.last_lkas_falling_edge = self.frame
self.lkas_control_bit_prev = lkas_control_bit
# steer torque
new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
if not lkas_active or not lkas_control_bit:
apply_steer = 0
self.apply_steer_last = apply_steer
can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
self.frame += 1
new_actuators = CC.actuators.copy()
new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
return new_actuators, can_sends