from cereal import car
from opendbc.can.packer import CANPacker
from openpilot.common.numpy_fast import clip
from openpilot.common.conversions import Conversions as CV
from openpilot.common.realtime import DT_CTRL
from openpilot.selfdrive.car import apply_driver_steer_torque_limits
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
[docs]
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.CCP = CarControllerParams(CP)
self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan
self.packer_pt = CANPacker(dbc_name)
self.ext_bus = CANBUS.pt if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera else CANBUS.cam
self.apply_steer_last = 0
self.gra_acc_counter_last = None
self.frame = 0
self.eps_timer_soft_disable_alert = False
self.hca_frame_timer_running = 0
self.hca_frame_same_torque = 0
[docs]
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
can_sends = []
# **** Steering Controls ************************************************ #
if self.frame % self.CCP.STEER_STEP == 0:
# Logic to avoid HCA state 4 "refused":
# * Don't steer unless HCA is in state 3 "ready" or 5 "active"
# * Don't steer at standstill
# * Don't send > 3.00 Newton-meters torque
# * Don't send the same torque for > 6 seconds
# * Don't send uninterrupted steering for > 360 seconds
# MQB racks reset the uninterrupted steering timer after a single frame
# of HCA disabled; this is done whenever output happens to be zero.
if CC.latActive:
new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
self.hca_frame_timer_running += self.CCP.STEER_STEP
if self.apply_steer_last == apply_steer:
self.hca_frame_same_torque += self.CCP.STEER_STEP
if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
apply_steer -= (1, -1)[apply_steer < 0]
self.hca_frame_same_torque = 0
else:
self.hca_frame_same_torque = 0
hca_enabled = abs(apply_steer) > 0
else:
hca_enabled = False
apply_steer = 0
if not hca_enabled:
self.hca_frame_timer_running = 0
self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
self.apply_steer_last = apply_steer
can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
# Pacify VW Emergency Assist driver inactivity detection by changing its view of driver steering input torque
# to the greatest of actual driver input or 2x openpilot's output (1x openpilot output is not enough to
# consistently reset inactivity detection on straight level roads). See commaai/openpilot#23274 for background.
ea_simulated_torque = clip(apply_steer * 2, -self.CCP.STEER_MAX, self.CCP.STEER_MAX)
if abs(CS.out.steeringTorque) > abs(ea_simulated_torque):
ea_simulated_torque = CS.out.steeringTorque
can_sends.append(self.CCS.create_eps_update(self.packer_pt, CANBUS.cam, CS.eps_stock_values, ea_simulated_torque))
# **** Acceleration Controls ******************************************** #
if self.frame % self.CCP.ACC_CONTROL_STEP == 0 and self.CP.openpilotLongitudinalControl:
acc_control = self.CCS.acc_control_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
accel = clip(actuators.accel, self.CCP.ACCEL_MIN, self.CCP.ACCEL_MAX) if CC.longActive else 0
stopping = actuators.longControlState == LongCtrlState.stopping
starting = actuators.longControlState == LongCtrlState.pid and (CS.esp_hold_confirmation or CS.out.vEgo < self.CP.vEgoStopping)
can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, CANBUS.pt, CS.acc_type, CC.longActive, accel,
acc_control, stopping, starting, CS.esp_hold_confirmation))
# **** HUD Controls ***************************************************** #
if self.frame % self.CCP.LDW_STEP == 0:
hud_alert = 0
if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
hud_alert = self.CCP.LDW_MESSAGES["laneAssistTakeOver"]
can_sends.append(self.CCS.create_lka_hud_control(self.packer_pt, CANBUS.pt, CS.ldw_stock_values, CC.latActive,
CS.out.steeringPressed, hud_alert, hud_control))
if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
lead_distance = 0
if hud_control.leadVisible and self.frame * DT_CTRL > 1.0: # Don't display lead until we know the scaling factor
lead_distance = 512 if CS.upscale_lead_car_signal else 8
acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
# FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
set_speed = hud_control.setSpeed * CV.MS_TO_KPH
can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
lead_distance, hud_control.leadDistanceBars))
# **** Stock ACC Button Controls **************************************** #
gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, self.ext_bus, CS.gra_stock_values,
cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
new_actuators = actuators.copy()
new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
new_actuators.steerOutputCan = self.apply_steer_last
self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
self.frame += 1
return new_actuators, can_sends