58 lines
2.3 KiB
Python
58 lines
2.3 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
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.tesla.teslacan import TeslaCAN
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from opendbc.car.tesla.values import CarControllerParams
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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.apply_angle_last = 0
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self.packer = CANPacker(dbc_names[Bus.party])
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self.tesla_can = TeslaCAN(self.packer)
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def update(self, CC, CS, now_nanos):
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actuators = CC.actuators
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can_sends = []
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# Disengage and allow for user override
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hands_on_fault = 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 = float(np.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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if self.frame % 10 == 0:
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can_sends.append(self.tesla_can.create_steering_allowed((self.frame // 10) % 16))
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# Longitudinal control
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if self.CP.openpilotLongitudinalControl and self.frame % 4 == 0:
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state = 4 if not hands_on_fault else 13 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
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accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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cntr = (self.frame // 4) % 8
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can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CC.longActive))
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# Increment counter so cancel is prioritized even without openpilot longitudinal
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if hands_on_fault and not self.CP.openpilotLongitudinalControl:
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cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
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can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, False))
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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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