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2024-04-27 13:48:05 -05:00
parent 2fbe9dbea1
commit 931db76fc6
432 changed files with 12973 additions and 3300 deletions
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26
selfdrive/car/honda/carcontroller.py
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@@ -7,6 +7,7 @@ from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import create_gas_interceptor_command
from openpilot.selfdrive.car.honda import hondacan
from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -94,8 +95,8 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "lead_visible", "personality_profile",
"lanes_visible", "fcw", "acc_alert", "steer_required"])
["pcm_accel", "v_cruise", "lead_visible",
"lanes_visible", "fcw", "acc_alert", "steer_required", "lead_distance_bars"])
def rate_limit_steer(new_steer, last_steer):
@@ -104,11 +105,12 @@ def rate_limit_steer(new_steer, last_steer):
return clip(new_steer, last_steer - MAX_DELTA, last_steer + MAX_DELTA)
class CarController:
class CarController(CarControllerBase):
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.packer = CANPacker(dbc_name)
self.params = CarControllerParams(CP)
self.CAN = hondacan.CanBus(CP)
self.frame = 0
self.braking = False
@@ -167,7 +169,7 @@ class CarController:
can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
# Send steering command.
can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_steer, CC.latActive, self.CP.carFingerprint,
CS.CP.openpilotLongitudinalControl))
# wind brake from air resistance decel at high speed
@@ -201,12 +203,12 @@ class CarController:
if not self.CP.openpilotLongitudinalControl:
if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS: # radarless cars don't have supplemental message
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CAN, self.CP.carFingerprint))
# If using stock ACC, spam cancel command to kill gas when OP disengages.
if pcm_cancel_cmd:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.CANCEL, self.CP.carFingerprint))
elif CC.cruiseControl.resume:
can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
can_sends.append(hondacan.spam_buttons_command(self.packer, self.CAN, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
else:
# Send gas and brake commands.
@@ -222,7 +224,7 @@ class CarController:
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
self.stopping_counter, self.CP.carFingerprint))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
@@ -230,7 +232,7 @@ class CarController:
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
pcm_override = True
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
can_sends.append(hondacan.create_brake_command(self.packer, self.CAN, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, fcw_display,
self.CP.carFingerprint, CS.stock_brake))
self.apply_brake_last = apply_brake
@@ -251,9 +253,9 @@ class CarController:
# Send dashboard UI commands.
if self.frame % 10 == 0:
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible, CS.personality_profile + 1,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
hud_control.lanesVisible, fcw_display, acc_alert, steer_required, hud_control.leadDistanceBars)
can_sends.extend(hondacan.create_ui_commands(self.packer, self.CAN, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.acc_hud, CS.lkas_hud, CC.latActive))
if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
self.speed = pcm_speed