def update(self, enabled, CS, frame, actuators, \ hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt, hud_alert): P = self.params # Send CAN commands. can_sends = [] canbus = self.canbus alert_out = process_hud_alert(hud_alert) steer = alert_out ### STEER ### if (frame % P.STEER_STEP) == 0: lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > P.MIN_STEER_SPEED if lkas_enabled: apply_steer = actuators.steer * P.STEER_MAX apply_steer = apply_std_steer_torque_limits( apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) else: apply_steer = 0 self.apply_steer_last = apply_steer idx = (frame // P.STEER_STEP) % 4 if self.car_fingerprint in SUPERCRUISE_CARS: can_sends += gmcan.create_steering_control_ct6( self.packer_pt, canbus, apply_steer, CS.v_ego, idx, lkas_enabled) else: can_sends.append( gmcan.create_steering_control(self.packer_pt, canbus.powertrain, apply_steer, idx, lkas_enabled)) ### GAS/BRAKE ### if self.car_fingerprint not in SUPERCRUISE_CARS: # no output if not enabled, but keep sending keepalive messages # treat pedals as one final_pedal = actuators.gas - actuators.brake # *** apply pedal hysteresis *** final_brake, self.brake_steady = actuator_hystereses( final_pedal, self.pedal_steady) if not enabled: # Stock ECU sends max regen when not enabled. apply_gas = P.MAX_ACC_REGEN apply_brake = 0 else: apply_gas = int( round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) apply_brake = int( round( interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) # Gas/regen and brakes - all at 25Hz if (frame % 4) == 0: idx = (frame // 4) % 4 at_full_stop = enabled and CS.standstill near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) can_sends.append( gmcan.create_friction_brake_command( self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop)) at_full_stop = enabled and CS.standstill can_sends.append( gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop)) # Send dashboard UI commands (ACC status), 25hz if (frame % 4) == 0: can_sends.append( gmcan.create_acc_dashboard_command( self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car)) # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) time_and_headlights_step = 10 tt = sec_since_boot() if frame % time_and_headlights_step == 0: idx = (frame // time_and_headlights_step) % 4 can_sends.append( gmcan.create_adas_time_status( canbus.obstacle, int((tt - self.start_time) * 60), idx)) can_sends.append( gmcan.create_adas_headlights_status(canbus.obstacle)) speed_and_accelerometer_step = 2 if frame % speed_and_accelerometer_step == 0: idx = (frame // speed_and_accelerometer_step) % 4 can_sends.append( gmcan.create_adas_steering_status(canbus.obstacle, idx)) can_sends.append( gmcan.create_adas_accelerometer_speed_status( canbus.obstacle, CS.v_ego, idx)) if frame % P.ADAS_KEEPALIVE_STEP == 0: can_sends += gmcan.create_adas_keepalive(canbus.powertrain) # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. # If not sent again, LKA icon disappears in about 5 seconds. # Conveniently, sending camera message periodically also works as a keepalive. lka_active = CS.lkas_status == 1 lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_icon_status = (lka_active, lka_critical) if frame % P.CAMERA_KEEPALIVE_STEP == 0 \ or lka_icon_status != self.lka_icon_status_last: can_sends.append( gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer)) self.lka_icon_status_last = lka_icon_status # Send chimes if self.chime != chime: duration = 0x3c # There is no 'repeat forever' chime command # TODO: Manage periodic re-issuing of chime command # and chime cancellation if chime_cnt == -1: chime_cnt = 10 if chime != 0: can_sends.append( gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt)) # If canceling a repeated chime, cancel command must be # issued for the same chime type and duration self.chime = chime return can_sends
def update(self, sendcan, enabled, CS, frame, actuators, \ hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt): """ Controls thread """ #update custom UI buttons and alerts CS.UE.update_custom_ui() if (frame % 1000 == 0): CS.cstm_btns.send_button_info() CS.UE.uiSetCarEvent(CS.cstm_btns.car_folder, CS.cstm_btns.car_name) # Sanity check. if not self.allow_controls: return P = self.params # Send CAN commands. can_sends = [] canbus = self.canbus ### STEER ### if (frame % P.STEER_STEP) == 0: lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3. if lkas_enabled: apply_steer = actuators.steer * P.STEER_MAX apply_steer = apply_std_steer_torque_limits( apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) else: apply_steer = 0 self.apply_steer_last = apply_steer idx = (frame / P.STEER_STEP) % 4 if CS.cstm_btns.get_button_status("lka") == 0: apply_steer = 0 if self.car_fingerprint == CAR.VOLT: can_sends.append( gmcan.create_steering_control(self.packer_pt, canbus.powertrain, apply_steer, idx, lkas_enabled)) if self.car_fingerprint == CAR.CADILLAC_CT6: can_sends += gmcan.create_steering_control_ct6( self.packer_pt, canbus, apply_steer, CS.v_ego, idx, lkas_enabled) ### GAS/BRAKE ### if self.car_fingerprint == CAR.VOLT: # no output if not enabled, but keep sending keepalive messages # treat pedals as one final_pedal = actuators.gas - actuators.brake # *** apply pedal hysteresis *** final_brake, self.brake_steady = actuator_hystereses( final_pedal, self.pedal_steady) if not enabled: # Stock ECU sends max regen when not enabled. apply_gas = P.MAX_ACC_REGEN apply_brake = 0 else: apply_gas = int( round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) apply_brake = int( round( interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) # Gas/regen and brakes - all at 25Hz if (frame % 4) == 0: idx = (frame / 4) % 4 car_stopping = apply_gas < P.ZERO_GAS standstill = CS.pcm_acc_status == AccState.STANDSTILL at_full_stop = enabled and standstill and car_stopping near_stop = enabled and ( CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) and car_stopping can_sends.append( gmcan.create_friction_brake_command( self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop)) # Auto-resume from full stop by resetting ACC control acc_enabled = enabled if standstill and not car_stopping: acc_enabled = False can_sends.append( gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, acc_enabled, at_full_stop)) # Send dashboard UI commands (ACC status), 25hz if (frame % 4) == 0: can_sends.append( gmcan.create_acc_dashboard_command( self.packer_pt, canbus.powertrain, enabled, hud_v_cruise * CV.MS_TO_KPH, hud_show_car)) # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) time_and_headlights_step = 10 tt = sec_since_boot() if frame % time_and_headlights_step == 0: idx = (frame / time_and_headlights_step) % 4 can_sends.append( gmcan.create_adas_time_status( canbus.obstacle, int((tt - self.start_time) * 60), idx)) can_sends.append( gmcan.create_adas_headlights_status(canbus.obstacle)) speed_and_accelerometer_step = 2 if frame % speed_and_accelerometer_step == 0: idx = (frame / speed_and_accelerometer_step) % 4 can_sends.append( gmcan.create_adas_steering_status(canbus.obstacle, idx)) can_sends.append( gmcan.create_adas_accelerometer_speed_status( canbus.obstacle, CS.v_ego, idx)) if frame % P.ADAS_KEEPALIVE_STEP == 0: can_sends += gmcan.create_adas_keepalive(canbus.powertrain) # Show green icon when LKA torque is applied, and # alarming orange icon when approaching torque limit. # If not sent again, LKA icon disappears in about 5 seconds. # Conveniently, sending camera message periodically also works as a keepalive. lka_active = CS.lkas_status == 1 lka_critical = lka_active and abs(actuators.steer) > 0.9 lka_icon_status = (lka_active, lka_critical) if frame % P.CAMERA_KEEPALIVE_STEP == 0 \ or lka_icon_status != self.lka_icon_status_last: can_sends.append( gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical)) self.lka_icon_status_last = lka_icon_status # Send chimes if self.chime != chime: duration = 0x3c # There is no 'repeat forever' chime command # TODO: Manage periodic re-issuing of chime command # and chime cancellation if chime_cnt == -1: chime_cnt = 10 if chime != 0: can_sends.append( gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt)) # If canceling a repeated chime, cancel command must be # issued for the same chime type and duration self.chime = chime sendcan.send( can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
def update(self, sendcan, enabled, CS, frame, actuators, \ hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt): """ Controls thread """ P = self.params # Send CAN commands. can_sends = [] canbus = self.canbus ### STEER ### if (frame % P.STEER_STEP) == 0: final_steer = actuators.steer if enabled else 0. apply_steer = final_steer * P.STEER_MAX apply_steer = apply_std_steer_torque_limits( apply_steer, self.apply_steer_last, CS.steer_torque_driver, P) lkas_enabled = enabled and not CS.steer_not_allowed and CS.v_ego > 3. if not lkas_enabled: apply_steer = 0 self.apply_steer_last = apply_steer idx = (frame / P.STEER_STEP) % 4 if self.car_fingerprint == CAR.VOLT: can_sends.append( gmcan.create_steering_control(self.packer_pt, canbus.powertrain, apply_steer, idx, lkas_enabled)) if self.car_fingerprint == CAR.CADILLAC_CT6: can_sends += gmcan.create_steering_control_ct6( self.packer_pt, canbus, apply_steer, CS.v_ego, idx, lkas_enabled) ### GAS/BRAKE ### if self.car_fingerprint == CAR.VOLT: # no output if not enabled, but keep sending keepalive messages # threat pedals as one final_pedal = actuators.gas - actuators.brake # *** apply pedal hysteresis *** final_brake, self.brake_steady = actuator_hystereses( final_pedal, self.pedal_steady) if not enabled: apply_gas = P.MAX_ACC_REGEN # TODO: do we really need to send max regen when not enabled? apply_brake = 0 else: apply_gas = int( round(interp(final_pedal, P.GAS_LOOKUP_BP, P.GAS_LOOKUP_V))) apply_brake = int( round( interp(final_pedal, P.BRAKE_LOOKUP_BP, P.BRAKE_LOOKUP_V))) # Gas/regen and brakes - all at 25Hz if (frame % 4) == 0: idx = (frame / 4) % 4 at_full_stop = enabled and CS.standstill near_stop = enabled and (CS.v_ego < P.NEAR_STOP_BRAKE_PHASE) can_sends.append( gmcan.create_friction_brake_command( self.packer_ch, canbus.chassis, apply_brake, idx, near_stop, at_full_stop)) at_full_stop = enabled and CS.standstill can_sends.append( gmcan.create_gas_regen_command(self.packer_pt, canbus.powertrain, apply_gas, idx, enabled, at_full_stop)) # Send dashboard UI commands (ACC status), 25hz if (frame % 4) == 0: can_sends.append( gmcan.create_acc_dashboard_command( canbus.powertrain, enabled, hud_v_cruise / CV.MS_TO_KPH, hud_show_car)) # Radar needs to know current speed and yaw rate (50hz), # and that ADAS is alive (10hz) time_and_headlights_step = 10 tt = sec_since_boot() if frame % time_and_headlights_step == 0: idx = (frame / time_and_headlights_step) % 4 can_sends.append( gmcan.create_adas_time_status( canbus.obstacle, int((tt - self.start_time) * 60), idx)) can_sends.append( gmcan.create_adas_headlights_status(canbus.obstacle)) speed_and_accelerometer_step = 2 if frame % speed_and_accelerometer_step == 0: idx = (frame / speed_and_accelerometer_step) % 4 can_sends.append( gmcan.create_adas_steering_status(canbus.obstacle, idx)) can_sends.append( gmcan.create_adas_accelerometer_speed_status( canbus.obstacle, CS.v_ego, idx)) # Send ADAS keepalive, 10hz if frame % P.ADAS_KEEPALIVE_STEP == 0: can_sends += gmcan.create_adas_keepalive(canbus.powertrain) # Send chimes if self.chime != chime: duration = 0x3c # There is no 'repeat forever' chime command # TODO: Manage periodic re-issuing of chime command # and chime cancellation if chime_cnt == -1: chime_cnt = 10 if chime != 0: can_sends.append( gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt)) # If canceling a repeated chime, cancel command must be # issued for the same chime type and duration self.chime = chime sendcan.send( can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())