58 lines
2.4 KiB
Python
58 lines
2.4 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_driver_steer_torque_limits
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from opendbc.car.interfaces import CarControllerBase
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from opendbc.car.rivian.riviancan import create_lka_steering, create_longitudinal, create_wheel_touch, create_adas_status
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from opendbc.car.rivian.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_torque_last = 0
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self.packer = CANPacker(dbc_names[Bus.pt])
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self.cancel_frames = 0
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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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apply_torque = 0
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steer_max = round(float(np.interp(CS.out.vEgoRaw, CarControllerParams.STEER_MAX_LOOKUP[0],
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CarControllerParams.STEER_MAX_LOOKUP[1])))
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if CC.latActive:
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new_torque = int(round(CC.actuators.torque * steer_max))
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apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last,
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CS.out.steeringTorque, CarControllerParams, steer_max)
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# send steering command
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self.apply_torque_last = apply_torque
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can_sends.append(create_lka_steering(self.packer, self.frame, CS.acm_lka_hba_cmd, apply_torque, CC.enabled, CC.latActive))
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if self.frame % 5 == 0:
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can_sends.append(create_wheel_touch(self.packer, CS.sccm_wheel_touch, CC.enabled))
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# Longitudinal control
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if self.CP.openpilotLongitudinalControl:
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accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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can_sends.append(create_longitudinal(self.packer, self.frame, accel, CC.enabled))
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else:
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interface_status = None
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if CC.cruiseControl.cancel:
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# if there is a noEntry, we need to send a status of "available" before the ACM will accept "unavailable"
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# send "available" right away as the VDM itself takes a few frames to acknowledge
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interface_status = 1 if self.cancel_frames < 5 else 0
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self.cancel_frames += 1
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else:
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self.cancel_frames = 0
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can_sends.append(create_adas_status(self.packer, CS.vdm_adas_status, interface_status))
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new_actuators = actuators.as_builder()
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new_actuators.torque = apply_torque / steer_max
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new_actuators.torqueOutputCan = apply_torque
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self.frame += 1
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return new_actuators, can_sends
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