openpilot v0.9.6 release

date: 2024-01-12T10:13:37
master commit: ba792d576a49a0899b88a753fa1c52956bedf9e6

selfdrive/car/nissan/carcontroller.py

@@ -0,0 +1,81 @@
+from cereal import car
+from opendbc.can.packer import CANPacker
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.nissan import nissancan
+from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
+
+VisualAlert = car.CarControl.HUDControl.VisualAlert
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
+
+    self.lkas_max_torque = 0
+    self.apply_angle_last = 0
+
+    self.packer = CANPacker(dbc_name)
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
+
+    can_sends = []
+
+    ### STEER ###
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+
+    if CC.latActive:
+      # windup slower
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
+
+      # Max torque from driver before EPS will give up and not apply torque
+      if not bool(CS.out.steeringPressed):
+        self.lkas_max_torque = CarControllerParams.LKAS_MAX_TORQUE
+      else:
+        # Scale max torque based on how much torque the driver is applying to the wheel
+        self.lkas_max_torque = max(
+          # Scale max torque down to half LKAX_MAX_TORQUE as a minimum
+          CarControllerParams.LKAS_MAX_TORQUE * 0.5,
+          # Start scaling torque at STEER_THRESHOLD
+          CarControllerParams.LKAS_MAX_TORQUE - 0.6 * max(0, abs(CS.out.steeringTorque) - CarControllerParams.STEER_THRESHOLD)
+        )
+
+    else:
+      apply_angle = CS.out.steeringAngleDeg
+      self.lkas_max_torque = 0
+
+    self.apply_angle_last = apply_angle
+
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
+
+    # TODO: Find better way to cancel!
+    # For some reason spamming the cancel button is unreliable on the Leaf
+    # We now cancel by making propilot think the seatbelt is unlatched,
+    # this generates a beep and a warning message every time you disengage
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
+
+    can_sends.append(nissancan.create_steering_control(
+      self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
+
+    # Below are the HUD messages. We copy the stock message and modify
+    if self.CP.carFingerprint != CAR.ALTIMA:
+      if self.frame % 2 == 0:
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+
+      if self.frame % 50 == 0:
+        can_sends.append(nissancan.create_lkas_hud_info_msg(
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
+        ))
+
+    new_actuators = actuators.copy()
+    new_actuators.steeringAngleDeg = apply_angle
+
+    self.frame += 1
+    return new_actuators, can_sends