83 lines
3.4 KiB
Python
83 lines
3.4 KiB
Python
import numpy as np
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from opendbc.can.packer import CANPacker
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from opendbc.car import Bus, apply_std_steer_angle_limits, structs
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.nissan import nissancan
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from opendbc.car.nissan.values import CAR, CarControllerParams
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VisualAlert = structs.CarControl.HUDControl.VisualAlert
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP):
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super().__init__(dbc_names, CP)
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self.car_fingerprint = CP.carFingerprint
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self.lkas_max_torque = 0
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_names[Bus.pt])
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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hud_control = CC.hudControl
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pcm_cancel_cmd = CC.cruiseControl.cancel
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can_sends = []
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### STEER ###
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steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
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if CC.latActive:
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# windup slower
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apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
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# Max torque from driver before EPS will give up and not apply torque
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if not bool(CS.out.steeringPressed):
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self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
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else:
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# Scale max torque based on how much torque the driver is applying to the wheel
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self.lkas_max_torque = max(
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# Scale max torque down to half LKAX_MAX_TORQUE as a minimum
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CarControllerParams.LKAS_MAX_TORQUE * 0.5,
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# Start scaling torque at STEER_THRESHOLD
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CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
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)
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else:
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apply_angle = CS.out.steeringAngleDeg
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self.lkas_max_torque = 0
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apply_angle = float(np.clip(apply_angle, -CarControllerParams.MAX_STEER_ANGLE, CarControllerParams.MAX_STEER_ANGLE))
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self.apply_angle_last = apply_angle
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if self.CP.carFingerprint in (CAR.NISSAN_ROGUE, CAR.NISSAN_XTRAIL, CAR.NISSAN_ALTIMA) and pcm_cancel_cmd:
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can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
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# TODO: Find better way to cancel!
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# For some reason spamming the cancel button is unreliable on the Leaf
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# We now cancel by making propilot think the seatbelt is unlatched,
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# this generates a beep and a warning message every time you disengage
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if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
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can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
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can_sends.append(nissancan.create_steering_control(
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self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
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# Below are the HUD messages. We copy the stock message and modify
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if self.CP.carFingerprint != CAR.NISSAN_ALTIMA:
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if self.frame % 2 == 0:
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can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
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hud_control.leftLaneDepart, hud_control.rightLaneDepart))
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if self.frame % 50 == 0:
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can_sends.append(nissancan.create_lkas_hud_info_msg(
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self.packer, CS.lkas_hud_info_msg, steer_hud_alert
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))
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = apply_angle
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self.frame += 1
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return new_actuators, can_sends
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