mirror of
https://github.com/dragonpilot/dragonpilot.git
synced 2026-03-04 09:03:52 +08:00
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
68 lines
2.8 KiB
Python
68 lines
2.8 KiB
Python
from openpilot.common.numpy_fast import clip
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from opendbc.can.packer import CANPacker
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from openpilot.selfdrive.car import apply_std_steer_angle_limits
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from openpilot.selfdrive.car.interfaces import CarControllerBase
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from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
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from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
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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.frame = 0
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_name)
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self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
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self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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# Temp disable steering on a hands_on_fault, and allow for user override
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hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
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lkas_enabled = CC.latActive and not hands_on_fault
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if self.frame % 2 == 0:
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if lkas_enabled:
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# Angular rate limit based on speed
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apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
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# To not fault the EPS
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apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.apply_angle_last = apply_angle
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can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
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# Longitudinal control (in sync with stock message, about 40Hz)
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if self.CP.openpilotLongitudinalControl:
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target_accel = actuators.accel
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target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
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max_accel = 0 if target_accel < 0 else target_accel
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min_accel = 0 if target_accel > 0 else target_accel
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while len(CS.das_control_counters) > 0:
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can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
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# Cancel on user steering override, since there is no steering torque blending
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if hands_on_fault:
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pcm_cancel_cmd = True
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if self.frame % 10 == 0 and pcm_cancel_cmd:
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# Spam every possible counter value, otherwise it might not be accepted
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for counter in range(16):
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
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can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
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# TODO: HUD control
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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self.frame += 1
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return new_actuators, can_sends
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