class CarController():
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above_timer = 0
self.mode_change_timer = 0
self.params = Params()
self.mode_change_switch = int(self.params.get('CruiseStatemodeSelInit'))
self.opkr_variablecruise = int(self.params.get('OpkrVariableCruise'))
self.opkr_autoresume = int(self.params.get('OpkrAutoResume'))
self.steer_mode = ""
self.mdps_status = ""
self.lkas_switch = ""
self.timer1 = tm.CTime1000("time")
self.SC = Spdctrl()
self.model_speed = 0
self.model_sum = 0
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.cruise_gap = 0.0
self.cruise_gap_prev = 0
self.cruise_gap_set_init = 0
self.cruise_gap_switch_timer = 0
self.lkas_button_on = True
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
if CP.lateralTuning.which() == 'pid':
self.str_log2 = 'TUNE={:0.2f}/{:0.3f}/{:0.5f}'.format(CP.lateralTuning.pid.kpV[1], CP.lateralTuning.pid.kiV[1], CP.lateralTuning.pid.kf)
elif CP.lateralTuning.which() == 'indi':
self.str_log2 = 'TUNE={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(CP.lateralTuning.indi.innerLoopGain, CP.lateralTuning.indi.outerLoopGain, CP.lateralTuning.indi.timeConstant, CP.lateralTuning.indi.actuatorEffectiveness)
elif CP.lateralTuning.which() == 'lqr':
self.str_log2 = 'TUNE={:04.0f}/{:05.3f}/{:06.4f}'.format(CP.lateralTuning.lqr.scale, CP.lateralTuning.lqr.ki, CP.lateralTuning.lqr.dcGain)
if CP.spasEnabled:
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.spas_always = False
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart, set_speed, lead_visible, sm):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
self.dRel, self.yRel, self.vRel = SpdController.get_lead(sm)
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
# Steering Torque
steerAngleAbs = abs(actuators.steerAngle)
limitParams = copy.copy(SteerLimitParams)
limitParams.STEER_MAX = int(interp(steerAngleAbs, [5., 10., 20., 30., 70.], [255, SteerLimitParams.STEER_MAX, 500, 600, 800]))
limitParams.STEER_DELTA_UP = int(interp(steerAngleAbs, [5., 20., 50.], [2, 3, 3]))
limitParams.STEER_DELTA_DOWN = int(interp(steerAngleAbs, [5., 20., 50.], [4, 5, 5]))
if self.driver_steering_torque_above_timer:
new_steer = actuators.steer * limitParams.STEER_MAX * (self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * limitParams.STEER_MAX
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, limitParams)
self.steer_rate_limited = new_steer != apply_steer
CC.applyAccel = apply_accel
CC.applySteer = apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle, -1*(STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang - apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
# temporarily disable steering when LKAS button off
#lkas_active = enabled and abs(CS.out.steeringAngle) < 90. and not spas_active
lkas_active = enabled and not spas_active #and abs(CS.out.steeringAngle) < 90.
if (( CS.out.leftBlinker and not CS.out.rightBlinker) or ( CS.out.rightBlinker and not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 10
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 10
if abs(CS.out.steeringTorque) > 200:
self.driver_steering_torque_above_timer = 100
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if self.driver_steering_torque_above_timer > 0:
self.driver_steering_torque_above_timer -= 1
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not(min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12["CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(create_lkas11(self.packer, frame, self.car_fingerprint, apply_steer, lkas_active,
CS.lkas11, sys_warning, sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11, Buttons.NONE, enabled_speed))
str_log1 = '곡률={:03.0f} 토크={:03.0f} 프레임률={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f}'.format(abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(), SteerLimitParams.STEER_MAX, SteerLimitParams.STEER_DELTA_UP, SteerLimitParams.STEER_DELTA_DOWN)
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (CS.out.cruiseState.modeSel == 1 or CS.out.cruiseState.modeSel == 2 or CS.out.cruiseState.modeSel == 3)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "오파모드"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "차간+커브"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "차간ONLY"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "편도1차선"
if CS.out.steerWarning == 0:
self.mdps_status = "정상"
elif CS.out.steerWarning == 1:
self.mdps_status = "오류"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
str_log3 = '주행모드={:s} MDPS상태={:s} LKAS버튼={:s} 크루즈갭={:1.0f}'.format( self.steer_mode, self.mdps_status, self.lkas_switch, self.cruise_gap)
trace1.printf2( '{}'.format( str_log3 ) )
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.CANCEL, clu11_speed))
if CS.out.cruiseState.standstill:
if self.last_lead_distance == 0 or not self.opkr_autoresume:
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.resume_wait_timer = 0
elif self.resume_wait_timer > 0:
self.resume_wait_timer -= 1
elif CS.lead_distance != self.last_lead_distance:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.resume_wait_timer = int(0.25 / DT_CTRL)
elif self.cruise_gap_prev == 0 and run_speed_ctrl:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
elif CS.cruiseGapSet != 1.0 and run_speed_ctrl:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(create_clu11(self.packer, self.resume_cnt, CS.scc_bus, CS.clu11, self.SC.btn_type, self.SC.sc_clu_speed))
self.resume_cnt += 1
else:
self.resume_cnt = 0
if self.dRel > 17 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus or not self.scc_live) and frame % 2 == 0:
can_sends.append(create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt, self.scc_live, CS.scc12))
can_sends.append(create_scc11(self.packer, frame, enabled, set_speed, lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(create_spas11(self.packer, self.car_fingerprint, (frame // 2), self.en_spas, self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
class CarController():
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.last_resume_frame = 0
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above = False
self.driver_steering_torque_above_timer = 100
self.mode_change_timer = 0
self.need_brake = False
self.need_brake_timer = 0
self.params = Params()
self.mode_change_switch = int(
self.params.get('CruiseStatemodeSelInit'))
self.opkr_variablecruise = int(self.params.get('OpkrVariableCruise'))
self.opkr_autoresume = int(self.params.get('OpkrAutoResume'))
self.opkr_autoresumeoption = int(
self.params.get('OpkrAutoResumeOption'))
self.opkr_maxanglelimit = int(self.params.get('OpkrMaxAngleLimit'))
self.steer_mode = ""
self.mdps_status = ""
self.lkas_switch = ""
self.leadcar_status = ""
self.timer1 = tm.CTime1000("time")
self.SC = Spdctrl()
self.model_speed = 0
self.model_sum = 0
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.dRel2 = 0
self.yRel2 = 0
self.vRel2 = 0
self.lead2_status = False
self.cut_in_detection = 0
self.target_map_speed = 0
self.target_map_speed_camera = 0
self.v_set_dis_prev = 180
self.cruise_gap = 0.0
self.cruise_gap_prev = 0
self.cruise_gap_set_init = 0
self.cruise_gap_switch_timer = 0
self.standstill_fault_reduce_timer = 0
self.cruise_gap_prev2 = 0
self.cruise_gap_switch_timer2 = 0
self.cruise_gap_switch_timer3 = 0
self.standstill_status = 0
self.standstill_status_timer = 0
self.res_switch_timer = 0
self.lkas_button_on = True
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.accActive = False
self.angle_differ_range = [0, 45]
self.steerMax_range = [
int(self.params.get('SteerMaxBaseAdj')), SteerLimitParams.STEER_MAX
]
self.steerDeltaUp_range = [int(self.params.get('SteerDeltaUpAdj')), 5]
self.steerDeltaDown_range = [
int(self.params.get('SteerDeltaDownAdj')), 10
]
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
self.steerMax_prev = int(self.params.get('SteerMaxBaseAdj'))
self.steerDeltaUp_prev = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown_prev = int(self.params.get('SteerDeltaDownAdj'))
self.steerMax_timer = 0
self.steerDeltaUp_timer = 0
self.steerDeltaDown_timer = 0
if CP.lateralTuning.which() == 'pid':
self.str_log2 = 'T={:0.2f}/{:0.3f}/{:0.5f}'.format(
CP.lateralTuning.pid.kpV[1], CP.lateralTuning.pid.kiV[1],
CP.lateralTuning.pid.kf)
elif CP.lateralTuning.which() == 'indi':
self.str_log2 = 'T={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(
CP.lateralTuning.indi.innerLoopGain,
CP.lateralTuning.indi.outerLoopGain,
CP.lateralTuning.indi.timeConstant,
CP.lateralTuning.indi.actuatorEffectiveness)
elif CP.lateralTuning.which() == 'lqr':
self.str_log2 = 'T={:04.0f}/{:05.3f}/{:06.4f}'.format(
CP.lateralTuning.lqr.scale, CP.lateralTuning.lqr.ki,
CP.lateralTuning.lqr.dcGain)
if CP.spasEnabled:
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.spas_always = False
self.p = SteerLimitParams
def update(self, enabled, CS, frame, CC, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, sm):
# *** compute control surfaces ***
# gas and brake
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
param = self.p
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
plan = sm['plan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
self.target_map_speed = plan.targetSpeed
self.target_map_speed_camera = plan.targetSpeedCamera
self.accActive = CS.acc_active
path_plan = sm['pathPlan']
self.outScale = path_plan.outputScale
self.vCruiseSet = path_plan.vCruiseSet
self.angle_steers_des = path_plan.angleSteers - path_plan.angleOffset
self.angle_steers = CS.out.steeringAngle
self.angle_diff = abs(self.angle_steers_des) - abs(self.angle_steers)
if abs(self.outScale) >= 1 and CS.out.vEgo > 8:
self.steerMax_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerMax_range)
if self.steerMax_prev > self.steerMax:
self.steerMax = self.steerMax_prev
self.steerDeltaUp_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerDeltaUp_range)
if self.steerDeltaUp_prev > self.steerDeltaUp:
self.steerDeltaUp = self.steerDeltaUp_prev
self.steerDeltaDown_prev = interp(self.angle_diff,
self.angle_differ_range,
self.steerDeltaDown_range)
if self.steerDeltaDown_prev > self.steerDeltaDown:
self.steerDeltaDown = self.steerDeltaDown_prev
#if abs(self.outScale) >= 0.9 and CS.out.vEgo > 8:
# self.steerMax_timer += 1
# self.steerDeltaUp_timer += 1
# self.steerDeltaDown_timer += 1
# if self.steerMax_timer > 5:
# self.steerMax += int(CS.out.vEgo//2)
# self.steerMax_timer = 0
# if self.steerMax >= int(self.params.get('SteerMaxAdj')):
# self.steerMax = int(self.params.get('SteerMaxAdj'))
# if self.steerDeltaUp_timer > 50:
# self.steerDeltaUp += 1
# self.steerDeltaUp_timer = 0
# if self.steerDeltaUp >= 7:
# self.steerDeltaUp = 7
# if self.steerDeltaDown_timer > 25:
# self.steerDeltaDown += 1
# self.steerDeltaDown_timer = 0
# if self.steerDeltaDown >= 15:
# self.steerDeltaDown = 15
else:
self.steerMax_timer += 1
self.steerDeltaUp_timer += 1
self.steerDeltaDown_timer += 1
if self.steerMax_timer > 20:
self.steerMax -= 5
self.steerMax_timer = 0
if self.steerMax < int(self.params.get('SteerMaxBaseAdj')):
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
if self.steerDeltaUp_timer > 100:
self.steerDeltaUp -= 1
self.steerDeltaUp_timer = 0
if self.steerDeltaUp <= int(
self.params.get('SteerDeltaUpAdj')):
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
if self.steerDeltaDown_timer > 50:
self.steerDeltaDown -= 1
self.steerDeltaDown_timer = 0
if self.steerDeltaDown <= int(
self.params.get('SteerDeltaDownAdj')):
self.steerDeltaDown = int(
self.params.get('SteerDeltaDownAdj'))
param.STEER_MAX = min(SteerLimitParams.STEER_MAX, self.steerMax)
param.STEER_DELTA_UP = max(int(self.params.get('SteerDeltaUpAdj')),
self.steerDeltaUp)
param.STEER_DELTA_DOWN = max(int(self.params.get('SteerDeltaDownAdj')),
self.steerDeltaDown)
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = actuators.steer * self.steerMax * (
self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * self.steerMax
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
param)
self.steer_rate_limited = new_steer != apply_steer
CC.applyAccel = apply_accel
CC.applySteer = apply_steer
# SPAS limit angle extremes for safety
if CS.spas_enabled:
apply_steer_ang_req = clip(actuators.steerAngle,
-1 * (STEER_ANG_MAX), STEER_ANG_MAX)
# SPAS limit angle rate for safety
if abs(self.apply_steer_ang -
apply_steer_ang_req) > STEER_ANG_MAX_RATE:
if apply_steer_ang_req > self.apply_steer_ang:
self.apply_steer_ang += STEER_ANG_MAX_RATE
else:
self.apply_steer_ang -= STEER_ANG_MAX_RATE
else:
self.apply_steer_ang = apply_steer_ang_req
spas_active = CS.spas_enabled and enabled and (
self.spas_always or CS.out.vEgo < 7.0) # 25km/h
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
if self.opkr_maxanglelimit >= 90:
lkas_active = enabled and abs(
CS.out.steeringAngle
) < self.opkr_maxanglelimit and not spas_active
else:
lkas_active = enabled and not spas_active
if ((CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker and
not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
if self.lanechange_manual_timer:
lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque
) > 200 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
self.apply_accel_last = apply_accel
self.apply_steer_last = apply_steer
if CS.acc_active and CS.lead_distance > 149 and self.dRel < (
(CS.out.vEgo * CV.MS_TO_KPH) +
3) and self.vRel < -5 and CS.out.vEgo > 7:
self.need_brake_timer += 1
if self.need_brake_timer > 50:
self.need_brake = True
else:
self.need_brake = False
self.need_brake_timer = 0
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(lkas_active, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart,
self.lkas_button_on)
clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if clu11_speed > enabled_speed or not lkas_active:
enabled_speed = clu11_speed
if not (min_set_speed < set_speed < 255 * CV.KPH_TO_MS):
set_speed = min_set_speed
set_speed *= CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
if frame == 0: # initialize counts from last received count signals
self.lkas11_cnt = CS.lkas11["CF_Lkas_MsgCount"]
self.scc12_cnt = CS.scc12[
"CR_VSM_Alive"] + 1 if not CS.no_radar else 0
#TODO: fix this
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
# check if SCC is alive
# if frame % 7 == 0:
# if CS.scc11["AliveCounterACC"] == self.prev_scc_cnt:
# if frame - self.scc_update_frame > 20 and self.scc_live:
# self.scc_live = False
# else:
# self.scc_live = True
# self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
# self.scc_update_frame = frame
self.prev_scc_cnt = CS.scc11["AliveCounterACC"]
self.lkas11_cnt = (self.lkas11_cnt + 1) % 0x10
self.scc12_cnt %= 0xF
can_sends = []
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 0))
if CS.mdps_bus or CS.scc_bus == 1: # send lkas11 bus 1 if mdps or scc is on bus 1
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning, 1))
if frame % 2 and CS.mdps_bus: # send clu11 to mdps if it is not on bus 0
can_sends.append(
create_clu11(self.packer, frame, CS.mdps_bus, CS.clu11,
Buttons.NONE, enabled_speed))
str_log1 = 'CV={:03.0f} TQ={:03.0f} R={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f}'.format(
abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(),
self.steerMax, self.steerDeltaUp, self.steerDeltaDown)
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
if CS.out.cruiseState.modeSel == 0 and self.mode_change_switch == 3:
self.mode_change_timer = 50
self.mode_change_switch = 0
elif CS.out.cruiseState.modeSel == 1 and self.mode_change_switch == 0:
self.mode_change_timer = 50
self.mode_change_switch = 1
elif CS.out.cruiseState.modeSel == 2 and self.mode_change_switch == 1:
self.mode_change_timer = 50
self.mode_change_switch = 2
elif CS.out.cruiseState.modeSel == 3 and self.mode_change_switch == 2:
self.mode_change_timer = 50
self.mode_change_switch = 3
if self.mode_change_timer > 0:
self.mode_change_timer -= 1
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active and (
CS.out.cruiseState.modeSel == 1 or CS.out.cruiseState.modeSel == 2
or CS.out.cruiseState.modeSel == 3)
if not run_speed_ctrl:
if CS.out.cruiseState.modeSel == 0:
self.steer_mode = "오파모드"
elif CS.out.cruiseState.modeSel == 1:
self.steer_mode = "차간+커브"
elif CS.out.cruiseState.modeSel == 2:
self.steer_mode = "차간ONLY"
elif CS.out.cruiseState.modeSel == 3:
self.steer_mode = "편도1차선"
if CS.out.steerWarning == 0:
self.mdps_status = "정상"
elif CS.out.steerWarning == 1:
self.mdps_status = "오류"
if CS.lkas_button_on == 0:
self.lkas_switch = "OFF"
elif CS.lkas_button_on == 1:
self.lkas_switch = "ON"
else:
self.lkas_switch = "-"
if self.cruise_gap != CS.cruiseGapSet:
self.cruise_gap = CS.cruiseGapSet
if CS.lead_distance < 149:
self.leadcar_status = "O"
else:
self.leadcar_status = "-"
str_log2 = 'MODE={:s} MDPS={:s} LKAS={:s} CSG={:1.0f} LEAD={:s}'.format(
self.steer_mode, self.mdps_status, self.lkas_switch,
self.cruise_gap, self.leadcar_status)
trace1.printf2('{}'.format(str_log2))
if pcm_cancel_cmd and self.longcontrol:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.CANCEL, clu11_speed))
if CS.out.cruiseState.standstill:
self.standstill_status = 1
if self.opkr_autoresumeoption == 1 and self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
self.res_switch_timer = 0
self.standstill_fault_reduce_timer += 1
elif self.res_switch_timer > 0:
self.res_switch_timer -= 1
self.standstill_fault_reduce_timer += 1
# standstill 진입하자마자 바로 누르지 말고 최소 1초의 딜레이를 주기 위함
elif 100 < self.standstill_fault_reduce_timer and CS.lead_distance != self.last_lead_distance:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
if self.resume_cnt > 5:
self.resume_cnt = 0
self.res_switch_timer = randint(10, 15)
self.standstill_fault_reduce_timer += 1
# gap save
elif 160 < self.standstill_fault_reduce_timer and self.cruise_gap_prev == 0 and self.opkr_autoresume:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
# gap adjust to 1 for fast start
elif 160 < self.standstill_fault_reduce_timer and CS.cruiseGapSet != 1.0 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus,
CS.clu11, Buttons.GAP_DIST,
clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.opkr_autoresume:
self.standstill_fault_reduce_timer += 1
elif self.opkr_autoresumeoption == 0 and self.opkr_autoresume:
# run only first time when the car stopped
if self.last_lead_distance == 0:
# get the lead distance from the Radar
self.last_lead_distance = CS.lead_distance
self.resume_cnt = 0
# when lead car starts moving, create 6 RES msgs
elif CS.lead_distance != self.last_lead_distance and (
frame -
self.last_resume_frame) > 5 and self.opkr_autoresume:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.RES_ACCEL, clu11_speed))
self.resume_cnt += 1
# interval after 6 msgs
if self.resume_cnt > 5:
self.last_resume_frame = frame
self.resume_cnt = 0
elif self.cruise_gap_prev == 0 and self.opkr_autoresume:
self.cruise_gap_prev = CS.cruiseGapSet
self.cruise_gap_set_init = 1
elif CS.cruiseGapSet != 1.0 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 100:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus,
CS.clu11, Buttons.GAP_DIST,
clu11_speed))
self.cruise_gap_switch_timer = 0
# reset lead distnce after the car starts moving
elif self.last_lead_distance != 0:
self.last_lead_distance = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(
create_clu11(self.packer, self.resume_cnt, CS.scc_bus,
CS.clu11, self.SC.btn_type,
self.SC.sc_clu_speed))
self.resume_cnt += 1
else:
self.resume_cnt = 0
# gap restore
if self.dRel > 17 and self.vRel < 5 and self.cruise_gap_prev != CS.cruiseGapSet and self.cruise_gap_set_init == 1 and self.opkr_autoresume:
self.cruise_gap_switch_timer += 1
if self.cruise_gap_switch_timer > 50:
can_sends.append(
create_clu11(self.packer, frame, CS.scc_bus, CS.clu11,
Buttons.GAP_DIST, clu11_speed))
self.cruise_gap_switch_timer = 0
elif self.cruise_gap_prev == CS.cruiseGapSet and self.opkr_autoresume:
self.cruise_gap_set_init = 0
self.cruise_gap_prev = 0
#if CS.out.vEgo > 8 and self.lead2_status and self.dRel - self.dRel2 > 3 and self.cut_in_detection == 0 and self.cruise_gap_prev2 == 0:
# self.cut_in_detection = 1
# self.cruise_gap_prev2 = CS.cruiseGapSet
#elif CS.out.vEgo > 8 and self.cut_in_detection == 1 and CS.cruiseGapSet != 1.0:
# self.cruise_gap_switch_timer2 += 1
# if self.cruise_gap_switch_timer2 > 150:
# can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
# self.cruise_gap_switch_timer2 = 0
#elif CS.out.vEgo > 8 and self.cut_in_detection == 1 and CS.cruiseGapSet == 1.0:
# self.cruise_gap_switch_timer2 += 1
# if self.cruise_gap_switch_timer2 > 600:
# if self.cruise_gap_prev2 != CS.cruiseGapSet:
# self.cruise_gap_switch_timer3 += 1
# if self.cruise_gap_switch_timer3 > 50:
# can_sends.append(create_clu11(self.packer, frame, CS.scc_bus, CS.clu11, Buttons.GAP_DIST, clu11_speed))
# self.cruise_gap_switch_timer3 = 0
#elif self.cruise_gap_prev2 == CS.cruiseGapSet:
# self.cut_in_detection == 0
# self.cruise_gap_prev2 = 0
# self.cruise_gap_switch_timer2 = 0
# self.cruise_gap_switch_timer3 = 0
if CS.out.brakeLights and CS.out.vEgo == 0 and not CS.acc_active:
self.standstill_status_timer += 1
if self.standstill_status_timer > 200:
self.standstill_status = 1
self.standstill_status_timer = 0
if self.standstill_status == 1 and CS.out.vEgo > 1:
self.standstill_status = 0
self.standstill_fault_reduce_timer = 0
self.v_set_dis_prev = 180
self.last_resume_frame = frame
self.res_switch_timer = 0
self.resume_cnt = 0
if CS.mdps_bus: # send mdps12 to LKAS to prevent LKAS error
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if self.longcontrol and (CS.scc_bus
or not self.scc_live) and frame % 2 == 0:
can_sends.append(
create_scc12(self.packer, apply_accel, enabled, self.scc12_cnt,
self.scc_live, CS.scc12))
can_sends.append(
create_scc11(self.packer, frame, enabled, set_speed,
lead_visible, self.scc_live, CS.scc11))
if CS.has_scc13 and frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.has_scc14:
can_sends.append(create_scc14(self.packer, enabled, CS.scc14))
self.scc12_cnt += 1
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.car_fingerprint in FEATURES["send_lfa_mfa"]:
can_sends.append(create_lfa_mfa(self.packer, frame, lkas_active))
if CS.spas_enabled:
if CS.mdps_bus:
can_sends.append(
create_ems11(self.packer, CS.ems11, spas_active))
# SPAS11 50hz
if (frame % 2) == 0:
if CS.mdps11_stat == 7 and not self.mdps11_stat_last == 7:
self.en_spas = 7
self.en_cnt = 0
if self.en_spas == 7 and self.en_cnt >= 8:
self.en_spas = 3
self.en_cnt = 0
if self.en_cnt < 8 and spas_active:
self.en_spas = 4
elif self.en_cnt >= 8 and spas_active:
self.en_spas = 5
if not spas_active:
self.apply_steer_ang = CS.mdps11_strang
self.en_spas = 3
self.en_cnt = 0
self.mdps11_stat_last = CS.mdps11_stat
self.en_cnt += 1
can_sends.append(
create_spas11(self.packer, self.car_fingerprint,
(frame // 2), self.en_spas,
self.apply_steer_ang, CS.mdps_bus))
# SPAS12 20Hz
if (frame % 5) == 0:
can_sends.append(create_spas12(CS.mdps_bus))
return can_sends
class CarController():
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.cp_oplongcontrol = CP.openpilotLongitudinalControl
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.accel_lim_prev = 0.
self.accel_lim = 0.
self.steer_rate_limited = False
self.apply_accel = 0
self.usestockscc = True
self.lead_visible = False
self.lead_debounce = 0
self.prev_gapButton = 0
self.current_veh_speed = 0
self.lfainFingerprint = CP.lfaAvailable
self.vdiff = 0
self.resumebuttoncnt = 0
self.lastresumeframe = 0
self.fca11supcnt = self.fca11inc = self.fca11alivecnt = self.fca11cnt13 = self.scc11cnt = self.scc12cnt = 0
self.counter_init = False
self.fca11maxcnt = 0xD
self.radarDisableActivated = False
self.radarDisableResetTimer = 0
self.radarDisableOverlapTimer = 0
self.sendaccmode = not CP.radarDisablePossible
self.enabled = False
self.sm = messaging.SubMaster(['controlsState'])
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above = False
self.driver_steering_torque_above_timer = 100
self.acc_standstill_timer = 0
self.acc_standstill = False
self.params = Params()
self.gapsettingdance = int(self.params.get('OpkrCruiseGapSet'))
self.opkr_variablecruise = int(self.params.get('OpkrVariableCruise'))
self.opkr_autoresume = int(self.params.get('OpkrAutoResume'))
self.opkr_maxanglelimit = int(self.params.get('OpkrMaxAngleLimit'))
self.timer1 = tm.CTime1000("time")
if int(self.params.get('OpkrVariableCruiseProfile')) == 0:
self.SC = Spdctrl()
elif int(self.params.get('OpkrVariableCruiseProfile')) == 1:
self.SC = SpdctrlRelaxed()
else:
self.SC = Spdctrl()
self.model_speed = 0
self.model_sum = 0
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.dRel2 = 0
self.yRel2 = 0
self.vRel2 = 0
self.lead2_status = False
self.cut_in_detection = 0
self.target_map_speed = 0
self.target_map_speed_camera = 0
self.v_set_dis_prev = 180
#self.model_speed_range = [30, 90, 255, 300]
#self.steerMax_range = [SteerLimitParams.STEER_MAX, int(self.params.get('SteerMaxBaseAdj')), int(self.params.get('SteerMaxBaseAdj')), 0]
#self.steerDeltaUp_range = [5, int(self.params.get('SteerDeltaUpAdj')), int(self.params.get('SteerDeltaUpAdj')), 0]
#self.steerDeltaDown_range = [10, int(self.params.get('SteerDeltaDownAdj')), int(self.params.get('SteerDeltaDownAdj')), 0]
self.angle_range = [0, 10, 15, 20, 30, 40, 60] # 호야님 버전 가변 적용
self.SMAX = SteerLimitParams.STEER_MAX # 약 510 이상(SteerMaxBaseAdj의 2배)으로 설정해야 아래 보간 로직이 맞음
self.steerMax_range = [
int(self.params.get('SteerMaxBaseAdj')), self.SMAX * 0.57,
self.SMAX * 0.66, self.SMAX * 0.75, self.SMAX * 0.85,
self.SMAX * 0.93, self.SMAX
]
self.steerDeltaUp_range = [
int(self.params.get('SteerDeltaUpAdj')), 3, 4, 4, 4, 5, 5
]
self.steerDeltaDown_range = [
int(self.params.get('SteerDeltaDownAdj')), 5, 6, 7, 8, 9, 10
]
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
self.variable_steer_max = int(
self.params.get('OpkrVariableSteerMax')) == 1
self.variable_steer_delta = int(
self.params.get('OpkrVariableSteerDelta')) == 1
if CP.lateralTuning.which() == 'pid':
self.str_log2 = 'T={:0.2f}/{:0.3f}/{:0.2f}/{:0.5f}'.format(
CP.lateralTuning.pid.kpV[1], CP.lateralTuning.pid.kiV[1],
CP.lateralTuning.pid.kdV[0], CP.lateralTuning.pid.kf)
elif CP.lateralTuning.which() == 'indi':
self.str_log2 = 'T={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(
CP.lateralTuning.indi.innerLoopGain,
CP.lateralTuning.indi.outerLoopGain,
CP.lateralTuning.indi.timeConstant,
CP.lateralTuning.indi.actuatorEffectiveness)
elif CP.lateralTuning.which() == 'lqr':
self.str_log2 = 'T={:04.0f}/{:05.3f}/{:06.4f}'.format(
CP.lateralTuning.lqr.scale, CP.lateralTuning.lqr.ki,
CP.lateralTuning.lqr.dcGain)
self.p = SteerLimitParams
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd,
visual_alert, left_lane, right_lane, left_lane_depart,
right_lane_depart, set_speed, lead_visible, lead_dist,
lead_vrel, lead_yrel, sm):
self.enabled = enabled
param = self.p
self.model_speed, self.model_sum = self.SC.calc_va(sm, CS.out.vEgo)
plan = sm['plan']
self.dRel = int(plan.dRel1) #EON Lead
self.yRel = int(plan.yRel1) #EON Lead
self.vRel = int(plan.vRel1 * 3.6 + 0.5) #EON Lead
self.dRel2 = int(plan.dRel2) #EON Lead
self.yRel2 = int(plan.yRel2) #EON Lead
self.vRel2 = int(plan.vRel2 * 3.6 + 0.5) #EON Lead
self.lead2_status = plan.status2
self.target_map_speed = plan.targetSpeed
self.target_map_speed_camera = plan.targetSpeedCamera
path_plan = sm['pathPlan']
self.outScale = path_plan.outputScale
self.angle_steers = CS.out.steeringAngle
self.vCruiseSet = path_plan.vCruiseSet
if CS.out.vEgo > 8:
if self.variable_steer_max:
#self.steerMax = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerMax_range)
self.steerMax = interp(abs(self.angle_steers),
self.angle_range, self.steerMax_range)
else:
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
if self.variable_steer_delta:
#self.steerDeltaUp = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaUp_range)
#self.steerDeltaDown = interp(int(abs(self.model_speed)), self.model_speed_range, self.steerDeltaDown_range)
self.steerDeltaUp = interp(abs(self.angle_steers),
self.angle_range,
self.steerDeltaUp_range)
self.steerDeltaDown = interp(abs(self.angle_steers),
self.angle_range,
self.steerDeltaDown_range)
else:
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
else:
self.steerMax = int(self.params.get('SteerMaxBaseAdj'))
self.steerDeltaUp = int(self.params.get('SteerDeltaUpAdj'))
self.steerDeltaDown = int(self.params.get('SteerDeltaDownAdj'))
param.STEER_MAX = min(SteerLimitParams.STEER_MAX,
self.steerMax) # variable steermax
param.STEER_DELTA_UP = max(int(self.params.get('SteerDeltaUpAdj')),
self.steerDeltaUp) # variable deltaUp
param.STEER_DELTA_DOWN = max(int(self.params.get('SteerDeltaDownAdj')),
self.steerDeltaDown) # variable deltaDown
#param.STEER_DELTA_UP = SteerLimitParams.STEER_DELTA_UP # fixed deltaUp
#param.STEER_DELTA_DOWN = SteerLimitParams.STEER_DELTA_DOWN # fixed deltaDown
# Steering Torque
if 0 <= self.driver_steering_torque_above_timer < 100:
new_steer = actuators.steer * self.steerMax * (
self.driver_steering_torque_above_timer / 100)
else:
new_steer = actuators.steer * self.steerMax
apply_steer = apply_std_steer_torque_limits(new_steer,
self.apply_steer_last,
CS.out.steeringTorque,
param)
self.steer_rate_limited = new_steer != apply_steer
# disable if steer angle reach 90 deg, otherwise mdps fault in some models
self.high_steer_allowed = True if self.car_fingerprint in FEATURES[
"allow_high_steer"] else False
if self.opkr_maxanglelimit >= 90:
lkas_active = enabled and abs(
CS.out.steeringAngle) < self.opkr_maxanglelimit
else:
lkas_active = enabled
if ((CS.out.leftBlinker and not CS.out.rightBlinker) or
(CS.out.rightBlinker and
not CS.out.leftBlinker)) and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.lanechange_manual_timer = 50
if CS.out.leftBlinker and CS.out.rightBlinker:
self.emergency_manual_timer = 50
#if self.lanechange_manual_timer:
# lkas_active = 0
if self.lanechange_manual_timer > 0:
self.lanechange_manual_timer -= 1
if self.emergency_manual_timer > 0:
self.emergency_manual_timer -= 1
if abs(CS.out.steeringTorque
) > 200 and CS.out.vEgo < LANE_CHANGE_SPEED_MIN:
self.driver_steering_torque_above = True
else:
self.driver_steering_torque_above = False
if self.driver_steering_torque_above == True:
self.driver_steering_torque_above_timer -= 1
if self.driver_steering_torque_above_timer <= 0:
self.driver_steering_torque_above_timer = 0
elif self.driver_steering_torque_above == False:
self.driver_steering_torque_above_timer += 5
if self.driver_steering_torque_above_timer >= 100:
self.driver_steering_torque_above_timer = 100
if not lkas_active:
apply_steer = 0
if CS.CP.radarOffCan:
self.usestockscc = not self.cp_oplongcontrol
elif (CS.cancel_button_count == 3) and self.cp_oplongcontrol:
self.usestockscc = not self.usestockscc
if self.prev_gapButton != CS.cruise_buttons: # gap change.
if CS.cruise_buttons == 3:
self.gapsettingdance -= 1
if self.gapsettingdance < 1:
self.gapsettingdance = 4
self.prev_gapButton = CS.cruise_buttons
self.apply_steer_last = apply_steer
sys_warning, sys_state, left_lane_warning, right_lane_warning =\
process_hud_alert(enabled, self.car_fingerprint, visual_alert,
left_lane, right_lane, left_lane_depart, right_lane_depart)
speed_conv = CV.MS_TO_MPH if CS.is_set_speed_in_mph else CV.MS_TO_KPH
self.clu11_speed = CS.clu11["CF_Clu_Vanz"]
enabled_speed = 38 if CS.is_set_speed_in_mph else 55
if self.clu11_speed > enabled_speed or not lkas_active or CS.out.gearShifter != GearShifter.drive:
enabled_speed = self.clu11_speed
self.current_veh_speed = int(CS.out.vEgo * speed_conv)
self.clu11_cnt = frame % 0x10
can_sends = []
self.lfa_available = True if self.lfainFingerprint or self.car_fingerprint in FEATURES[
"send_lfa_mfa"] else False
if (frame % 10) == 0:
# tester present - w/ no response (keeps radar disabled)
can_sends.append(
[0x7D0, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 0])
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 0))
if CS.CP.mdpsHarness: # send lkas11 bus 1 if mdps
can_sends.append(
create_lkas11(self.packer, frame, self.car_fingerprint,
apply_steer, lkas_active, CS.lkas11, sys_warning,
sys_state, enabled, left_lane, right_lane,
left_lane_warning, right_lane_warning,
self.lfa_available, 1))
can_sends.append(
create_clu11(self.packer, 1, CS.clu11, Buttons.NONE,
enabled_speed, self.clu11_cnt))
str_log1 = 'CV={:03.0f} TQ={:03.0f} R={:03.0f} ST={:03.0f}/{:01.0f}/{:01.0f} G={:01.0f}'.format(
abs(self.model_speed), abs(new_steer), self.timer1.sampleTime(),
self.steerMax, self.steerDeltaUp, self.steerDeltaDown,
CS.out.cruiseGapSet)
if int(self.params.get('OpkrLiveTune')) == 1:
if int(self.params.get('LateralControlMethod')) == 0:
self.str_log2 = 'T={:0.2f}/{:0.3f}/{:0.2f}/{:0.5f}'.format(
float(int(self.params.get('PidKp')) * 0.01),
float(int(self.params.get('PidKi')) * 0.001),
float(int(self.params.get('PidKd')) * 0.01),
float(int(self.params.get('PidKf')) * 0.00001))
elif int(self.params.get('LateralControlMethod')) == 1:
self.str_log2 = 'T={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(
float(int(self.params.get('InnerLoopGain')) * 0.1),
float(int(self.params.get('OuterLoopGain')) * 0.1),
float(int(self.params.get('TimeConstant')) * 0.1),
float(int(self.params.get('ActuatorEffectiveness')) * 0.1))
elif int(self.params.get('LateralControlMethod')) == 2:
self.str_log2 = 'T={:04.0f}/{:05.3f}/{:06.4f}'.format(
float(int(self.params.get('Scale')) * 1.0),
float(int(self.params.get('LqrKi')) * 0.001),
float(int(self.params.get('DcGain')) * 0.0001))
trace1.printf1('{} {}'.format(str_log1, self.str_log2))
run_speed_ctrl = self.opkr_variablecruise and CS.acc_active
if pcm_cancel_cmd and CS.scc12[
"ACCMode"] != 0 and not CS.out.standstill:
self.vdiff = 0.
self.resumebuttoncnt = 0
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.CANCEL, self.current_veh_speed,
self.clu11_cnt))
elif CS.out.cruiseState.standstill and CS.scc12[
"ACCMode"] != 0 and CS.vrelative > 0:
self.vdiff += (CS.vrelative - self.vdiff)
if (frame - self.lastresumeframe > 5) and (self.vdiff > .1 or
CS.lead_distance > 4.5):
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
Buttons.RES_ACCEL, self.current_veh_speed,
self.resumebuttoncnt))
self.resumebuttoncnt += 1
if self.resumebuttoncnt > 5:
self.lastresumeframe = frame
self.resumebuttoncnt = 0
elif run_speed_ctrl:
is_sc_run = self.SC.update(CS, sm, self)
if is_sc_run:
can_sends.append(
create_clu11(self.packer, CS.CP.sccBus, CS.clu11,
self.SC.btn_type, self.SC.sc_clu_speed,
self.clu11_cnt))
else:
self.vdiff = 0.
self.resumebuttoncnt = 0
if frame % 2 == 0 and self.cp_oplongcontrol:
accel_target = clip(actuators.gas - actuators.brake, -3.5, 2.0)
self.apply_accel += 0.02 if accel_target > self.apply_accel else -0.02
stopping = accel_target < 0 and CS.out.vEgo < 0.05
self.apply_accel = clip(self.apply_accel,
accel_target if accel_target < 0 else 0,
accel_target if accel_target > 0 else 0)
if not enabled:
self.apply_accel = 0
if CS.out.vEgo <= 1:
self.sm.update(0)
long_control_state = self.sm['controlsState'].longControlState
self.acc_standstill = True if long_control_state == LongCtrlState.stopping else False
if self.acc_standstill == True and not CS.out.gasPressed:
self.acc_standstill_timer += 1
if self.acc_standstill_timer >= 200:
self.acc_standstill_timer = 200
elif CS.out.gasPressed:
self.acc_standstill_timer = 0
else:
self.acc_standstill_timer = 0
elif CS.out.gasPressed or CS.out.vEgo > 1:
self.acc_standstill = False
self.acc_standstill_timer = 0
else:
self.acc_standstill = False
self.acc_standstill_timer = 0
if lead_visible:
self.lead_visible = True
self.lead_debounce = 50
elif self.lead_debounce > 0:
self.lead_debounce -= 1
else:
self.lead_visible = lead_visible
self.setspeed = set_speed * speed_conv
if enabled:
self.sendaccmode = enabled
if CS.CP.radarDisablePossible:
self.radarDisableOverlapTimer += 1
self.radarDisableResetTimer = 0
if self.radarDisableOverlapTimer >= 30:
self.radarDisableActivated = True
if 200 > self.radarDisableOverlapTimer > 36:
if frame % 41 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x03\x00\x00\x00\x00\x00'))
elif frame % 43 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x03\x28\x03\x01\x00\x00\x00\x00'))
elif frame % 19 == 0 or self.radarDisableOverlapTimer == 37:
can_sends.append(
create_scc7d0(b'\x02\x10\x85\x00\x00\x00\x00\x00'))
else:
self.counter_init = False
can_sends.append(
create_scc7d0(b'\x02\x10\x90\x00\x00\x00\x00\x00'))
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
elif self.radarDisableActivated:
can_sends.append(
create_scc7d0(b'\x02\x10\x90\x00\x00\x00\x00\x00'))
can_sends.append(
create_scc7d0(b'\x03\x29\x03\x01\x00\x00\x00\x00'))
self.radarDisableOverlapTimer = 0
if frame % 50 == 0:
self.radarDisableResetTimer += 1
if self.radarDisableResetTimer > 2:
self.radarDisableActivated = False
self.counter_init = True
else:
self.radarDisableOverlapTimer = 0
self.radarDisableResetTimer = 0
if (frame % 50 == 0 or self.radarDisableOverlapTimer == 37) and \
CS.CP.radarDisablePossible and self.radarDisableOverlapTimer >= 30:
can_sends.append(
create_scc7d0(b'\x02\x3E\x00\x00\x00\x00\x00\x00'))
if self.lead_visible:
self.objdiststat = 1 if lead_dist < 25 else 2 if lead_dist < 40 else \
3 if lead_dist < 60 else 4 if lead_dist < 80 else 5
else:
self.objdiststat = 0
# send scc to car if longcontrol enabled and SCC not on bus 0 or ont live
if (CS.CP.sccBus == 2 or not self.usestockscc
or self.radarDisableActivated) and self.counter_init:
if frame % 2 == 0:
self.scc12cnt += 1
self.scc12cnt %= 0xF
self.scc11cnt += 1
self.scc11cnt %= 0x10
self.fca11supcnt += 1
self.fca11supcnt %= 0xF
if self.fca11alivecnt == 1:
self.fca11inc = 0
if self.fca11cnt13 == 3:
self.fca11maxcnt = 0x9
self.fca11cnt13 = 0
else:
self.fca11maxcnt = 0xD
self.fca11cnt13 += 1
else:
self.fca11inc += 4
self.fca11alivecnt = self.fca11maxcnt - self.fca11inc
can_sends.append(
create_scc11(self.packer, enabled, self.setspeed,
self.lead_visible, lead_dist, lead_vrel,
lead_yrel, self.gapsettingdance,
CS.out.standstill, CS.scc11, self.usestockscc,
CS.CP.radarOffCan, self.scc11cnt,
self.sendaccmode))
if CS.brake_check == 1 or CS.mainsw_check == 1:
can_sends.append(
create_scc12(self.packer, accel_target, accel_target,
enabled, self.acc_standstill,
CS.out.gasPressed, 1, CS.out.stockAeb,
CS.scc12, self.usestockscc,
CS.CP.radarOffCan, self.scc12cnt))
else:
can_sends.append(
create_scc12(self.packer, accel_target, accel_target,
enabled, self.acc_standstill,
CS.out.gasPressed, CS.out.brakePressed,
CS.out.stockAeb, CS.scc12,
self.usestockscc, CS.CP.radarOffCan,
self.scc12cnt))
can_sends.append(
create_scc14(self.packer, enabled, self.usestockscc,
CS.out.stockAeb, self.apply_accel, CS.scc14,
self.objdiststat, CS.out.gasPressed,
self.acc_standstill, CS.out.vEgo))
if CS.CP.fcaBus == -1:
can_sends.append(
create_fca11(self.packer, CS.fca11, self.fca11alivecnt,
self.fca11supcnt))
if frame % 20 == 0:
can_sends.append(create_scc13(self.packer, CS.scc13))
if CS.CP.fcaBus == -1:
can_sends.append(create_fca12(self.packer))
if frame % 50 == 0:
can_sends.append(create_scc42a(self.packer))
else:
self.counter_init = True
self.scc12cnt = CS.scc12init["CR_VSM_Alive"]
self.scc11cnt = CS.scc11init["AliveCounterACC"]
self.fca11alivecnt = CS.fca11init["CR_FCA_Alive"]
self.fca11supcnt = CS.fca11init["Supplemental_Counter"]
# 20 Hz LFA MFA message
if frame % 5 == 0 and self.lfa_available:
can_sends.append(create_lfa_mfa(self.packer, frame, enabled))
can_sends.append(create_mdps12(self.packer, frame, CS.mdps12))
return can_sends