openpilot v0.9.6 release

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

selfdrive/car/ford/carcontroller.py

@@ -0,0 +1,114 @@
+from cereal import car
+from openpilot.common.numpy_fast import clip
+from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.ford import fordcan
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
+
+LongCtrlState = car.CarControl.Actuators.LongControlState
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
+  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
+  if v_ego_raw > 9:
+    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
+                           current_curvature + CarControllerParams.CURVATURE_ERROR)
+
+  # Curvature rate limit after driver torque limit
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
+
+  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.VM = VM
+    self.packer = CANPacker(dbc_name)
+    self.CAN = fordcan.CanBus(CP)
+    self.frame = 0
+
+    self.apply_curvature_last = 0
+    self.main_on_last = False
+    self.lkas_enabled_last = False
+    self.steer_alert_last = False
+
+  def update(self, CC, CS, now_nanos):
+    can_sends = []
+
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+
+    main_on = CS.out.cruiseState.available
+    steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
+
+    ### acc buttons ###
+    if CC.cruiseControl.cancel:
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
+    elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
+    # if stock lane centering isn't off, send a button press to toggle it off
+    # the stock system checks for steering pressed, and eventually disengages cruise control
+    elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
+      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
+
+    ### lateral control ###
+    # send steer msg at 20Hz
+    if (self.frame % CarControllerParams.STEER_STEP) == 0:
+      if CC.latActive:
+        # apply rate limits, curvature error limit, and clip to signal range
+        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+        apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
+      else:
+        apply_curvature = 0.
+
+      self.apply_curvature_last = apply_curvature
+
+      if self.CP.carFingerprint in CANFD_CAR:
+        # TODO: extended mode
+        mode = 1 if CC.latActive else 0
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
+        can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
+      else:
+        can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
+
+    # send lka msg at 33Hz
+    if (self.frame % CarControllerParams.LKA_STEP) == 0:
+      can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
+
+    ### longitudinal control ###
+    # send acc msg at 50Hz
+    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
+      # Both gas and accel are in m/s^2, accel is used solely for braking
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      gas = accel
+      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
+        gas = CarControllerParams.INACTIVE_GAS
+      stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, v_ego_kph=V_CRUISE_MAX))
+
+    ### ui ###
+    send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
+    # send lkas ui msg at 1Hz or if ui state changes
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+      can_sends.append(fordcan.create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+    # send acc ui msg at 5Hz or if ui state changes
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
+                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
+                                         CS.acc_tja_status_stock_values))
+
+    self.main_on_last = main_on
+    self.lkas_enabled_last = CC.latActive
+    self.steer_alert_last = steer_alert
+
+    new_actuators = actuators.copy()
+    new_actuators.curvature = self.apply_curvature_last
+
+    self.frame += 1
+    return new_actuators, can_sends