from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.common.filter_simple import FirstOrderFilter from openpilot.common.numpy_fast import interp, clip from openpilot.common.params import Params from openpilot.common.realtime import DT_CTRL from opendbc.can.packer import CANPacker from openpilot.selfdrive.car import apply_driver_steer_torque_limits, create_gas_interceptor_command from openpilot.selfdrive.car.gm import gmcan from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons, GMFlags, CC_ONLY_CAR, SDGM_CAR, EV_CAR, CAMERA_ACC_CAR from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import apply_deadzone, V_CRUISE_MAX from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY VisualAlert = car.CarControl.HUDControl.VisualAlert NetworkLocation = car.CarParams.NetworkLocation LongCtrlState = car.CarControl.Actuators.LongControlState GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType params_memory = Params("/dev/shm/params") # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s CAMERA_CANCEL_DELAY_FRAMES = 10 # Enforce a minimum interval between steering messages to avoid a fault MIN_STEER_MSG_INTERVAL_MS = 15 # Constants for pitch compensation PITCH_DEADZONE = 0.01 # [radians] 0.01 ≈ 1% grade BRAKE_PITCH_FACTOR_BP = [5., 10.] # [m/s] smoothly revert to planned accel at low speeds BRAKE_PITCH_FACTOR_V = [0., 1.] # [unitless in [0,1]]; don't touch class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): self.CP = CP self.start_time = 0. self.apply_steer_last = 0 self.apply_gas = 0 self.apply_brake = 0 self.apply_speed = 0 self.frame = 0 self.last_steer_frame = 0 self.last_button_frame = 0 self.cancel_counter = 0 self.pedal_steady = 0. self.lka_steering_cmd_counter = 0 self.lka_icon_status_last = (False, False) self.params = CarControllerParams(self.CP) self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt']) self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar']) self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis']) # FrogPilot variables self.params_ = Params() self.pitch = FirstOrderFilter(0., 0.09 * 4, DT_CTRL * 4) # runs at 25 Hz self.accel_g = 0.0 @staticmethod def calc_pedal_command(accel: float, long_active: bool) -> float: if not long_active: return 0. zero = 0.15625 # 40/256 if accel > 0.: # Scales the accel from 0-1 to 0.156-1 pedal_gas = clip(((1 - zero) * accel + zero), 0., 1.) else: # if accel is negative, -0.1 -> 0.015625 pedal_gas = clip(zero + accel, 0., zero) # Make brake the same size as gas, but clip to regen return pedal_gas def update(self, CC, CS, now_nanos, frogpilot_variables): actuators = CC.actuators accel = actuators.accel hud_control = CC.hudControl hud_alert = hud_control.visualAlert hud_v_cruise = hud_control.setSpeed if hud_v_cruise > 70: hud_v_cruise = 0 # Send CAN commands. can_sends = [] # Steering (Active: 50Hz, inactive: 10Hz) steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP if self.CP.networkLocation == NetworkLocation.fwdCamera: # Also send at 50Hz: # - on startup, first few msgs are blocked # - until we're in sync with camera so counters align when relay closes, preventing a fault. # openpilot can subtly drift, so this is activated throughout a drive to stay synced out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4 if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync: steer_step = self.params.STEER_STEP self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0 # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we # received the ASCMLKASteeringCmd loopback confirmation too recently last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6 if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS: # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus if CS.loopback_lka_steering_cmd_ts_nanos == 0: self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1 if CC.latActive: new_steer = int(round(actuators.steer * self.params.STEER_MAX)) apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params) else: apply_steer = 0 self.last_steer_frame = self.frame self.apply_steer_last = apply_steer idx = self.lka_steering_cmd_counter % 4 can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, CC.latActive)) if self.CP.openpilotLongitudinalControl and not frogpilot_variables.CSLC: # Gas/regen, brakes, and UI commands - all at 25Hz if self.frame % 4 == 0: stopping = actuators.longControlState == LongCtrlState.stopping # Pitch compensated acceleration; # TODO: include future pitch (sm['modelDataV2'].orientation.y) to account for long actuator delay if frogpilot_variables.long_pitch and len(CC.orientationNED) > 1: self.pitch.update(CC.orientationNED[1]) self.accel_g = ACCELERATION_DUE_TO_GRAVITY * apply_deadzone(self.pitch.x, PITCH_DEADZONE) # driving uphill is positive pitch accel += self.accel_g at_full_stop = CC.longActive and CS.out.standstill near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE) interceptor_gas_cmd = 0 if not CC.longActive: # ASCM sends max regen when not enabled self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = 0 elif near_stop and stopping and not CC.cruiseControl.resume: self.apply_gas = self.params.INACTIVE_REGEN self.apply_brake = int(min(-100 * self.CP.stopAccel, self.params.MAX_BRAKE)) else: # Normal operation brake_accel = actuators.accel + self.accel_g * interp(CS.out.vEgo, BRAKE_PITCH_FACTOR_BP, BRAKE_PITCH_FACTOR_V) if self.CP.carFingerprint in EV_CAR: self.params.update_ev_gas_brake_threshold(CS.out.vEgo) if frogpilot_variables.sport_plus: self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) else: self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.EV_BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) else: if frogpilot_variables.sport_plus: self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP_PLUS, self.params.GAS_LOOKUP_V_PLUS))) else: self.apply_gas = int(round(interp(accel if frogpilot_variables.long_pitch else actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V))) self.apply_brake = int(round(interp(brake_accel if frogpilot_variables.long_pitch else actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V))) # Don't allow any gas above inactive regen while stopping # FIXME: brakes aren't applied immediately when enabling at a stop if stopping: self.apply_gas = self.params.INACTIVE_REGEN if self.CP.carFingerprint in CC_ONLY_CAR: # gas interceptor only used for full long control on cars without ACC interceptor_gas_cmd = self.calc_pedal_command(actuators.accel, CC.longActive) if self.CP.enableGasInterceptor and self.apply_gas > self.params.INACTIVE_REGEN and CS.out.cruiseState.standstill: # "Tap" the accelerator pedal to re-engage ACC interceptor_gas_cmd = self.params.SNG_INTERCEPTOR_GAS self.apply_brake = 0 self.apply_gas = self.params.INACTIVE_REGEN idx = (self.frame // 4) % 4 if self.CP.flags & GMFlags.CC_LONG.value: if CC.longActive and CS.out.vEgo > self.CP.minEnableSpeed: # Using extend instead of append since the message is only sent intermittently can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators)) if self.CP.enableGasInterceptor: can_sends.append(create_gas_interceptor_command(self.packer_pt, interceptor_gas_cmd, idx)) if self.CP.carFingerprint not in CC_ONLY_CAR: friction_brake_bus = CanBus.CHASSIS # GM Camera exceptions # TODO: can we always check the longControlState? if self.CP.networkLocation == NetworkLocation.fwdCamera and self.CP.carFingerprint not in CC_ONLY_CAR: at_full_stop = at_full_stop and stopping friction_brake_bus = CanBus.POWERTRAIN if self.CP.autoResumeSng: resume = actuators.longControlState != LongCtrlState.starting or CC.cruiseControl.resume at_full_stop = at_full_stop and not resume # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop)) can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP)) # Send dashboard UI commands (ACC status) send_fcw = hud_alert == VisualAlert.fcw can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, send_fcw)) else: # to keep accel steady for logs when not sending gas accel += self.accel_g # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) if not self.CP.radarUnavailable: tt = self.frame * DT_CTRL time_and_headlights_step = 10 if self.frame % time_and_headlights_step == 0: idx = (self.frame // time_and_headlights_step) % 4 can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx)) can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE)) speed_and_accelerometer_step = 2 if self.frame % speed_and_accelerometer_step == 0: idx = (self.frame // speed_and_accelerometer_step) % 4 can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx)) can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx)) if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0: can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN) # TODO: integrate this with the code block below? if ( (self.CP.flags & GMFlags.PEDAL_LONG.value) # Always cancel stock CC when using pedal interceptor or (self.CP.flags & GMFlags.CC_LONG.value and not CC.enabled) # Cancel stock CC if OP is not active ) and CS.out.cruiseState.enabled: if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: self.last_button_frame = self.frame can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, (CS.buttons_counter + 1) % 4, CruiseButtons.CANCEL)) else: # While car is braking, cancel button causes ECM to enter a soft disable state with a fault status. # A delayed cancellation allows camera to cancel and avoids a fault when user depresses brake quickly self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0 # Stock longitudinal, integrated at camera if (self.frame - self.last_button_frame) * DT_CTRL > 0.04: if self.cancel_counter > CAMERA_CANCEL_DELAY_FRAMES: self.last_button_frame = self.frame if self.CP.carFingerprint in SDGM_CAR: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.POWERTRAIN, CS.buttons_counter, CruiseButtons.CANCEL)) else: can_sends.append(gmcan.create_buttons(self.packer_pt, CanBus.CAMERA, CS.buttons_counter, CruiseButtons.CANCEL)) # ACC Spam if (self.CP.carFingerprint in SDGM_CAR or self.CP.carFingerprint in CAMERA_ACC_CAR) and frogpilot_variables.CSLC: bus = CanBus.CAMERA if CC.enabled and self.frame % 3 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and not CS.out.gasPressed and not CS.distance_button: slcSet = get_set_speed(self, hud_v_cruise) can_sends.extend(gmcan.create_gm_acc_spam_command(self.packer_pt, self, CS, slcSet, bus, CS.out.vEgo, frogpilot_variables, accel, self.CP.carFingerprint in SDGM_CAR)) elif CC.enabled and self.frame % 51 == 0 and CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise and not CS.distance_button: can_sends.extend([gmcan.create_buttons(self.packer_pt, bus, (CS.buttons_counter + 1) % 4, CruiseButtons.DECEL_SET)] * (25 if self.CP.carFingerprint in SDGM_CAR else 1)) if self.CP.networkLocation == NetworkLocation.fwdCamera: # Silence "Take Steering" alert sent by camera, forward PSCMStatus with HandsOffSWlDetectionStatus=1 if self.frame % 10 == 0: can_sends.append(gmcan.create_pscm_status(self.packer_pt, CanBus.CAMERA, CS.pscm_status)) new_actuators = actuators.copy() new_actuators.accel = accel new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX new_actuators.steerOutputCan = self.apply_steer_last new_actuators.gas = self.apply_gas new_actuators.brake = self.apply_brake new_actuators.speed = self.apply_speed self.frame += 1 return new_actuators, can_sends def get_set_speed(self, hud_v_cruise): v_cruise = min(hud_v_cruise, V_CRUISE_MAX * CV.KPH_TO_MS) v_cruise_slc: float = 0. v_cruise_slc = params_memory.get_float("CSLCSpeed") if v_cruise_slc > 0.: v_cruise = v_cruise_slc return v_cruise