#!/usr/bin/env python3
from abc import ABC, abstractmethod
from openpilot.common.realtime import DT_TRML
from openpilot.common.numpy_fast import interp
from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.controls.lib.pid import PIDController
[docs]
class BaseFanController(ABC):
[docs]
@abstractmethod
def update(self, cur_temp: float, ignition: bool) -> int:
pass
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class TiciFanController(BaseFanController):
def __init__(self) -> None:
super().__init__()
cloudlog.info("Setting up TICI fan handler")
self.last_ignition = False
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
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def update(self, cur_temp: float, ignition: bool) -> int:
self.controller.neg_limit = -(100 if ignition else 30)
self.controller.pos_limit = -(30 if ignition else 0)
if ignition != self.last_ignition:
self.controller.reset()
error = 70 - cur_temp
fan_pwr_out = -int(self.controller.update(
error=error,
feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
))
self.last_ignition = ignition
return fan_pwr_out