from openpilot.common.numpy_fast import clip
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import apply_std_steer_angle_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
[docs]
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.frame = 0
self.apply_angle_last = 0
self.packer = CANPacker(dbc_name)
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
[docs]
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
pcm_cancel_cmd = CC.cruiseControl.cancel
can_sends = []
# Temp disable steering on a hands_on_fault, and allow for user override
hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
lkas_enabled = CC.latActive and not hands_on_fault
if self.frame % 2 == 0:
if lkas_enabled:
# Angular rate limit based on speed
apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
# To not fault the EPS
apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
else:
apply_angle = CS.out.steeringAngleDeg
self.apply_angle_last = apply_angle
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
# Longitudinal control (in sync with stock message, about 40Hz)
if self.CP.openpilotLongitudinalControl:
target_accel = actuators.accel
target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
max_accel = 0 if target_accel < 0 else target_accel
min_accel = 0 if target_accel > 0 else target_accel
while len(CS.das_control_counters) > 0:
can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
# Cancel on user steering override, since there is no steering torque blending
if hands_on_fault:
pcm_cancel_cmd = True
if self.frame % 10 == 0 and pcm_cancel_cmd:
# Spam every possible counter value, otherwise it might not be accepted
for counter in range(16):
can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
# TODO: HUD control
new_actuators = actuators.copy()
new_actuators.steeringAngleDeg = self.apply_angle_last
self.frame += 1
return new_actuators, can_sends