openpilot v0.9.6 release

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

selfdrive/car/tesla/carcontroller.py

@@ -0,0 +1,66 @@
+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.tesla.teslacan import TeslaCAN
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
+
+
+class CarController:
+  def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
+    self.frame = 0
+    self.apply_angle_last = 0
+    self.packer = CANPacker(dbc_name)
+    self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
+    self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
+
+  def update(self, CC, CS, now_nanos):
+    actuators = CC.actuators
+    pcm_cancel_cmd = CC.cruiseControl.cancel
+
+    can_sends = []
+
+    # Temp disable steering on a hands_on_fault, and allow for user override
+    hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
+    lkas_enabled = CC.latActive and not hands_on_fault
+
+    if self.frame % 2 == 0:
+      if lkas_enabled:
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
+
+        # To not fault the EPS
+        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
+      else:
+        apply_angle = CS.out.steeringAngleDeg
+
+      self.apply_angle_last = apply_angle
+      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
+
+    # Longitudinal control (in sync with stock message, about 40Hz)
+    if self.CP.openpilotLongitudinalControl:
+      target_accel = actuators.accel
+      target_speed = max(CS.out.vEgo + (target_accel * CarControllerParams.ACCEL_TO_SPEED_MULTIPLIER), 0)
+      max_accel = 0 if target_accel < 0 else target_accel
+      min_accel = 0 if target_accel > 0 else target_accel
+
+      while len(CS.das_control_counters) > 0:
+        can_sends.extend(self.tesla_can.create_longitudinal_commands(CS.acc_state, target_speed, min_accel, max_accel, CS.das_control_counters.popleft()))
+
+    # Cancel on user steering override, since there is no steering torque blending
+    if hands_on_fault:
+      pcm_cancel_cmd = True
+
+    if self.frame % 10 == 0 and pcm_cancel_cmd:
+      # Spam every possible counter value, otherwise it might not be accepted
+      for counter in range(16):
+        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.chassis, counter))
+        can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, pcm_cancel_cmd, CANBUS.autopilot_chassis, counter))
+
+    # TODO: HUD control
+
+    new_actuators = actuators.copy()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+
+    self.frame += 1
+    return new_actuators, can_sends