def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.last_angle = 0
self.long_control_counter = 0
self.packer = CANPacker(dbc_name)
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.last_angle = 0
self.packer = CANPacker(dbc_name)
self.tesla_can = TeslaCAN(dbc_name, self.packer)
def update(self, enabled, CS, frame, actuators, cruise_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 = enabled and (not hands_on_fault)
if lkas_enabled:
apply_angle = actuators.steeringAngleDeg
# Angular rate limit based on speed
steer_up = (self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle))
rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
apply_angle = clip(apply_angle, (self.last_angle - max_angle_diff), (self.last_angle + max_angle_diff))
# 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.last_angle = apply_angle
can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, frame))
# Cancel on user steering override, since there is no steering torque blending
if hands_on_fault:
cruise_cancel = True
# Cancel when openpilot is not enabled anymore
if not enabled and bool(CS.out.cruiseState.enabled):
cruise_cancel = True
if ((frame % 10) == 0 and cruise_cancel):
# 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, cruise_cancel, CANBUS.chassis, counter))
can_sends.append(self.tesla_can.create_action_request(CS.msg_stw_actn_req, cruise_cancel, CANBUS.autopilot, counter))
# TODO: HUD control
return can_sends
class CarController():
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.last_angle = 0
self.long_control_counter = 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, enabled, CS, frame, actuators, cruise_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 = enabled and (not hands_on_fault)
if lkas_enabled:
apply_angle = actuators.steeringAngleDeg
# Angular rate limit based on speed
steer_up = (self.last_angle * apply_angle > 0.
and abs(apply_angle) > abs(self.last_angle))
rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points,
rate_limit.max_angle_diff_points)
apply_angle = clip(apply_angle, (self.last_angle - max_angle_diff),
(self.last_angle + max_angle_diff))
# 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.last_angle = apply_angle
can_sends.append(
self.tesla_can.create_steering_control(apply_angle, lkas_enabled,
frame))
# Longitudinal control (40Hz)
if self.CP.openpilotLongitudinalControl and ((frame % 5) in [0, 2]):
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
can_sends.extend(
self.tesla_can.create_longitudinal_commands(
CS.acc_state, target_speed, min_accel, max_accel,
self.long_control_counter))
self.long_control_counter += 1
# Cancel on user steering override, since there is no steering torque blending
if hands_on_fault:
cruise_cancel = True
# Cancel when openpilot is not enabled anymore
if not enabled and bool(CS.out.cruiseState.enabled):
cruise_cancel = True
if ((frame % 10) == 0 and cruise_cancel):
# 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, cruise_cancel, CANBUS.chassis,
counter))
can_sends.append(
self.tesla_can.create_action_request(
CS.msg_stw_actn_req, cruise_cancel,
CANBUS.autopilot_chassis, counter))
# TODO: HUD control
new_actuators = actuators.copy()
new_actuators.steeringAngleDeg = apply_angle
return actuators, can_sends
class CarController:
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.frame = 0
self.last_angle = 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):
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 lkas_enabled:
apply_angle = actuators.steeringAngleDeg
# Angular rate limit based on speed
steer_up = self.last_angle * apply_angle > 0. and abs(
apply_angle) > abs(self.last_angle)
rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points,
rate_limit.max_angle_diff_points)
apply_angle = clip(apply_angle, self.last_angle - max_angle_diff,
self.last_angle + max_angle_diff)
# 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.last_angle = apply_angle
can_sends.append(
self.tesla_can.create_steering_control(apply_angle, lkas_enabled,
self.frame))
# 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 = apply_angle
self.frame += 1
return new_actuators, can_sends
def __init__(self, dbc_name, CP, VM): self.CP = CP self.last_angle = 0 self.packer = CANPacker(dbc_name) self.tesla_can = TeslaCAN(dbc_name, self.packer)