openpilot v0.9.6 release

date: 2024-02-21T23:02:42
master commit: 0b4d08fab8e35a264bc7383e878538f8083c33e5

selfdrive/car/chrysler/carcontroller.py

@@ -0,0 +1,84 @@
+from opendbc.can.packer import CANPacker
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car.chrysler import chryslercan
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.apply_steer_last = 0
+    self.frame = 0
+
+    self.hud_count = 0
+    self.last_lkas_falling_edge = 0
+    self.lkas_control_bit_prev = False
+    self.last_button_frame = 0
+
+    self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)
+
+  def update(self, CC, CS, now_nanos):
+    can_sends = []
+
+    lkas_active = CC.latActive and self.lkas_control_bit_prev
+
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(chryslercan.create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+
+    # HUD alerts
+    if self.frame % 25 == 0:
+      if CS.lkas_car_model != -1:
+        can_sends.append(chryslercan.create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert,
+                                                     self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
+        self.hud_count += 1
+
+    # steering
+    if self.frame % self.params.STEER_STEP == 0:
+
+      # TODO: can we make this more sane? why is it different for all the cars?
+      lkas_control_bit = self.lkas_control_bit_prev
+      if CS.out.vEgo > self.CP.minSteerSpeed:
+        lkas_control_bit = True
+      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
+        if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
+          lkas_control_bit = False
+      elif self.CP.carFingerprint in RAM_CARS:
+        if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+          lkas_control_bit = False
+
+      # EPS faults if LKAS re-enables too quickly
+      lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
+
+      if not lkas_control_bit and self.lkas_control_bit_prev:
+        self.last_lkas_falling_edge = self.frame
+      self.lkas_control_bit_prev = lkas_control_bit
+
+      # steer torque
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      if not lkas_active or not lkas_control_bit:
+        apply_steer = 0
+      self.apply_steer_last = apply_steer
+
+      can_sends.append(chryslercan.create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
+
+    self.frame += 1
+
+    new_actuators = CC.actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
+
+    return new_actuators, can_sends