mirror of
https://github.com/dragonpilot/dragonpilot.git
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71f5c441fe
* format card * standalone process * no class member CS, there's no point also can be confusing; what else could be using this? * rename CoS * Update selfdrive/controls/controlsd.py * never works first time :D * canRcvTimeout is bool * hack * add cpu * see what testing closet comes up with * first * some clean up * support passable CI, fix test models * fix startup alert * process replay changes * test_fuzzy * gate carOutput valid on carControl valid * we should publish after we update carOutput * controlsd was using actuatorsOutput from 2 frames ago for torque, not the most up to date * check all checks for carControl in case controlsd dies * log more timestamps * more generic latency logger; needs some clean up latency_logger.py was difficult to understand and modify * card polls on can and carControl to get latest carControl possible * temp try to send earlier * add log * remove latencylogger * no mpld3! * old loop * detect first event * normal send * revert "card polls on can and carControl to get latest carControl possible" how it was is best * sheesh! update should be first * first timestamp * temp comment ( timestamp is slow :( ) * more final ordering, and make polling on/off test repeatable * Received can * new plot timestamps * clean up * no poll * add controllers (draft) * Revert "add controllers (draft)" This reverts commit e2c3f01b2fadcff74347bac90c8a5cc1ef4e27b3. * fix that * conventions * just use CS * consider controlsd state machine in card: not fully done * hmm it's just becoming controlsd * rm debugging * Revert "hmm it's just becoming controlsd" This reverts commit 534a357ee95bec4ed070667186af55d59421bbc7. * Revert "just use CS" This reverts commit 9fa7406f30c86200f20457f7b9ff95e731201bf9. * add vCruise * migrate car state * Revert "migrate car state" This reverts commit 4ae86ca163c6920070f410f608f7644ab632850b. * Revert "add vCruise" This reverts commit af247a8da41c3626ada4231b98042da1a1ae4633. * simple state machine in card (doesn't work as is) * Revert "simple state machine in card (doesn't work as is)" This reverts commit b4af8a9b0a2e17fdfc89d344c64678ef51305c24. * poll carState without conflate * bump * remove state transition * fix * update refs * ignore cumLagMs and don't ignore valid * fix controls mismatch; controlsd used to set alt exp * controlsd_config_callback not needed for card * revert ref temp * update refs * no poll * not builder! * test fix * need to migrate initialized * CC will be a reader * more as_reader! * fix None * init after publish like before - no real difference * controlsd clean up * remove redundant check and check passive for init * stash * flip * migrate missing carOutput for controlsd * Update ref_commit * bump cereal * comment * no class params * no class * Revert "no class" This reverts commit 5499b83c2dcb5462070626f8523e3aec6f4c209d. * add todo * regen and update refs * fix * update refs * and fix that * should be controlsstate * remove controlsState migration CoS.initialized isn't needed yet * fix * flip! * bump * fix that * update refs * fix * if canValid goes false, controlsd would still send * bump * rm diff * need to be very careful with initializing * update refs
67 lines
3.0 KiB
Python
67 lines
3.0 KiB
Python
from cereal import car
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_driver_steer_torque_limits
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.mazda import mazdacan
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from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
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VisualAlert = car.CarControl.HUDControl.VisualAlert
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class CarController(CarControllerBase):
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def __init__(self, dbc_name, CP, VM):
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self.CP = CP
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self.apply_steer_last = 0
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self.packer = CANPacker(dbc_name)
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self.brake_counter = 0
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self.frame = 0
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def update(self, CC, CS, now_nanos):
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can_sends = []
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apply_steer = 0
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if CC.latActive:
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# calculate steer and also set limits due to driver torque
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new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
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apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
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CS.out.steeringTorque, CarControllerParams)
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if CC.cruiseControl.cancel:
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# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
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# a race condition with the stock system, where the second cancel from openpilot
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# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
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# read 3 messages and most likely sync state before we attempt cancel.
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self.brake_counter = self.brake_counter + 1
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if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
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# Cancel Stock ACC if it's enabled while OP is disengaged
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# Send at a rate of 10hz until we sync with stock ACC state
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can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
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else:
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self.brake_counter = 0
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if CC.cruiseControl.resume and self.frame % 5 == 0:
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# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
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# Send Resume button when planner wants car to move
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can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
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self.apply_steer_last = apply_steer
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# send HUD alerts
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if self.frame % 50 == 0:
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ldw = CC.hudControl.visualAlert == VisualAlert.ldw
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steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
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# TODO: find a way to silence audible warnings so we can add more hud alerts
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steer_required = steer_required and CS.lkas_allowed_speed
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can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
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# send steering command
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can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
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self.frame, apply_steer, CS.cam_lkas))
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new_actuators = CC.actuators.as_builder()
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new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
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new_actuators.steerOutputCan = apply_steer
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self.frame += 1
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return new_actuators, can_sends
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