def update(self, CC, CS):
actuators = CC.actuators
hud_control = CC.hudControl
pcm_cancel_cmd = CC.cruiseControl.cancel
# gas and brake
if self.CP.enableGasInterceptor and CC.longActive:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if self.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER,
CAR.HIGHLANDERH):
PEDAL_SCALE = interp(
CS.out.vEgo,
[0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION],
[0.15, 0.3, 0.0])
elif self.CP.carFingerprint in (CAR.COROLLA, ):
PEDAL_SCALE = interp(
CS.out.vEgo,
[0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION],
[0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(
CS.out.vEgo,
[0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION],
[0.4, 0.5, 0.0])
# offset for creep and windbrake
pedal_offset = interp(CS.out.vEgo,
[0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION],
[-.4, 0.0, 0.2])
pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(
new_steer, self.last_steer, CS.out.steeringTorqueEps,
CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not CC.latActive or CS.steer_state in (9, 25):
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not CC.enabled and CS.pcm_acc_status:
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and self.CP.carFingerprint not in NO_STOP_TIMER_CAR:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_standstill = CS.out.standstill
can_sends = []
# *** control msgs ***
# print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(
create_steer_command(self.packer, apply_steer, apply_steer_req,
self.frame))
if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
can_sends.append(
create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if self.frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (self.frame % 3 == 0
and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = hud_control.leadVisible or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and self.CP.carFingerprint in (CAR.LEXUS_IS,
CAR.LEXUS_RC):
can_sends.append(create_acc_cancel_command(self.packer))
elif self.CP.openpilotLongitudinalControl:
can_sends.append(
create_accel_command(self.packer, pcm_accel_cmd,
pcm_cancel_cmd, self.standstill_req,
lead, CS.acc_type))
self.accel = pcm_accel_cmd
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd, False,
lead, CS.acc_type))
if self.frame % 2 == 0 and self.CP.enableGasInterceptor and self.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(
create_gas_interceptor_command(self.packer,
interceptor_gas_cmd,
self.frame // 2))
self.gas = interceptor_gas_cmd
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_control.visualAlert == VisualAlert.fcw
steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired,
VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if self.frame % 100 == 0 or send_ui:
can_sends.append(
create_ui_command(self.packer, steer_alert, pcm_cancel_cmd,
hud_control.leftLaneVisible,
hud_control.rightLaneVisible,
hud_control.leftLaneDepart,
hud_control.rightLaneDepart, CC.enabled))
if self.frame % 100 == 0 and self.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
for addr, cars, bus, fr_step, vl in STATIC_DSU_MSGS:
if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
new_actuators.accel = self.accel
new_actuators.gas = self.gas
self.frame += 1
return new_actuators, can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
left_line, right_line, lead, left_lane_depart,
right_lane_depart):
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(
new_steer, self.last_steer, CS.out.steeringTorqueEps,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# only cut torque when steer state is a known fault
if CS.steer_state in [9, 25]:
self.last_fault_frame = frame
# Cut steering for 2s after fault
if not enabled or (frame - self.last_fault_frame < 200):
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
self.steer_angle_enabled, self.ipas_reset_counter = \
ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
#print("{0} {1} {2}".format(self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active))
# steer angle
if self.steer_angle_enabled and CS.ipas_active:
apply_angle = actuators.steerAngle
angle_lim = interp(CS.out.vEgo, ANGLE_MAX_BP, ANGLE_MAX_V)
apply_angle = clip(apply_angle, -angle_lim, angle_lim)
# windup slower
if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(
self.last_angle):
angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP,
ANGLE_DELTA_V)
else:
angle_rate_lim = interp(CS.out.vEgo, ANGLE_DELTA_BP,
ANGLE_DELTA_VU)
apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim,
self.last_angle + angle_rate_lim)
else:
apply_angle = CS.out.steeringAngle
if not enabled and CS.pcm_acc_status:
# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_angle = apply_angle
self.last_accel = apply_accel
self.last_standstill = CS.out.standstill
can_sends = []
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if Ecu.fwdCamera in self.fake_ecus:
if self.angle_control:
can_sends.append(
create_steer_command(self.packer, 0., 0, frame))
else:
can_sends.append(
create_steer_command(self.packer, apply_steer,
apply_steer_req, frame))
if self.angle_control:
can_sends.append(
create_ipas_steer_command(self.packer, apply_angle,
self.steer_angle_enabled, Ecu.apgs
in self.fake_ecus))
elif Ecu.apgs in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0,
True))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (
pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(
create_accel_command(self.packer, apply_accel,
pcm_cancel_cmd, self.standstill_req,
lead))
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd, False,
lead))
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(
create_gas_command(self.packer, apply_gas, frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
alert_out = process_hud_alert(hud_alert)
steer, fcw = alert_out
if (any(alert_out) and not self.alert_active) or \
(not any(alert_out) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
else:
send_ui = False
# disengage msg causes a bad fault sound so play a good sound instead
if pcm_cancel_cmd:
send_ui = True
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
can_sends.append(
create_ui_command(self.packer, steer, pcm_cancel_cmd,
left_line, right_line, left_lane_depart,
right_lane_depart))
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends
def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd,
hud_alert, left_line, right_line, lead, left_lane_depart,
right_lane_depart):
# *** compute control surfaces ***
# gas and brake
interceptor_gas_cmd = 0.
pcm_accel_cmd = actuators.accel
if CS.CP.enableGasInterceptor:
# handle hysteresis when around the minimum acc speed
if CS.out.vEgo < MIN_ACC_SPEED:
self.use_interceptor = True
elif CS.out.vEgo > MIN_ACC_SPEED + PEDAL_HYST_GAP:
self.use_interceptor = False
if self.use_interceptor and active:
# only send negative accel when using interceptor. gas handles acceleration
# +0.18 m/s^2 offset to reduce ABS pump usage when OP is engaged
MAX_INTERCEPTOR_GAS = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED],
[0.2, 0.5])
interceptor_gas_cmd = clip(actuators.accel / PEDAL_SCALE, 0.,
MAX_INTERCEPTOR_GAS)
pcm_accel_cmd = 0.18 - max(0, -actuators.accel)
pcm_accel_cmd, self.accel_steady = accel_hysteresis(
pcm_accel_cmd, self.accel_steady, enabled)
pcm_accel_cmd = clip(pcm_accel_cmd, CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(
new_steer, self.last_steer, CS.out.steeringTorqueEps,
CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not enabled or CS.steer_state in [9, 25]:
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not enabled and CS.pcm_acc_status:
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_accel = pcm_accel_cmd
self.last_standstill = CS.out.standstill
can_sends = []
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(
create_steer_command(self.packer, apply_steer, apply_steer_req,
frame))
if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
can_sends.append(
create_lta_steer_command(self.packer, 0, 0, frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0
and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(
create_accel_command(self.packer, pcm_accel_cmd,
pcm_cancel_cmd, self.standstill_req,
lead, CS.acc_type))
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd, False,
lead, CS.acc_type))
if frame % 2 == 0 and CS.CP.enableGasInterceptor:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(
create_gas_command(self.packer, interceptor_gas_cmd,
frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert in [VisualAlert.steerRequired, VisualAlert.ldw]
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (frame % 100 == 0 or send_ui):
can_sends.append(
create_ui_command(self.packer, steer_alert, pcm_cancel_cmd,
left_line, right_line, left_lane_depart,
right_lane_depart))
if frame % 100 == 0 and CS.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
#*** static msgs ***
for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS:
if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends
def update(self, enabled, active, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
left_line, right_line, lead, left_lane_depart, right_lane_depart):
# gas and brake
if CS.CP.enableGasInterceptor and active:
MAX_INTERCEPTOR_GAS = 0.5
# RAV4 has very sensitive gas pedal
if CS.CP.carFingerprint in (CAR.RAV4, CAR.RAV4H, CAR.HIGHLANDER, CAR.HIGHLANDERH):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.15, 0.3, 0.0])
elif CS.CP.carFingerprint in (CAR.COROLLA,):
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.3, 0.4, 0.0])
else:
PEDAL_SCALE = interp(CS.out.vEgo, [0.0, MIN_ACC_SPEED, MIN_ACC_SPEED + PEDAL_TRANSITION], [0.4, 0.5, 0.0])
# offset for creep and windbrake
pedal_offset = interp(CS.out.vEgo, [0.0, 2.3, MIN_ACC_SPEED + PEDAL_TRANSITION], [-.4, 0.0, 0.2])
pedal_command = PEDAL_SCALE * (actuators.accel + pedal_offset)
interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
else:
interceptor_gas_cmd = 0.
pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not enabled and CS.pcm_acc_status:
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_standstill = CS.out.standstill
can_sends = []
if CS.CP.steerControlType == car.CarParams.SteerControlType.angle:
can_sends.append(create_steer_command(self.packer, 0, 0, frame))
# On TSS2 cars, the LTA and STEER_TORQUE_SENSOR messages use relative steering angle signals that start
# at 0 degrees, so we need to offset the commanded angle as well.
# Also need to pulse steer_req to prevent 5 second steering lockout in some cases
steer_req = active # TODO(thinh): Check and cut out steering while we are in a known fault state
percentage = interp(abs(CS.out.steeringTorque), [50, 100], [100, 0])
commanded_angle = interp(percentage, [-10, 100], [CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg,
actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg])
can_sends.append(create_lta_steer_command(self.packer, commanded_angle, steer_req, frame))
else:
# Cut steering while we're in a known fault state (2s)
if not active or CS.steer_state in (9, 25):
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present so ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint in (CAR.LEXUS_IS, CAR.LEXUS_RC):
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(create_accel_command(self.packer, pcm_accel_cmd, pcm_cancel_cmd, self.standstill_req, lead, CS.acc_type, CS.distance_btn))
self.accel = pcm_accel_cmd
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead, CS.acc_type, CS.distance_btn))
if frame % 2 == 0 and CS.CP.enableGasInterceptor and CS.CP.openpilotLongitudinalControl:
# send exactly zero if gas cmd is zero. Interceptor will send the max between read value and gas cmd.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, frame // 2))
self.gas = interceptor_gas_cmd
# ui mesg is at 1Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (frame % 100 == 0 or send_ui):
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart, enabled))
if frame % 100 == 0 and CS.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
# *** static msgs ***
for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS:
if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
new_actuators = actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
new_actuators.accel = self.accel
new_actuators.gas = self.gas
return new_actuators, can_sends
def update(self, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
right_line, lead, left_lane_depart, right_lane_depart):
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
if CS.CP.enableGasInterceptor:
if CS.pedal_gas > 15.0:
apply_accel = max(apply_accel, 0.06)
if CS.brake_pressed:
apply_gas = 0.0
apply_accel = min(apply_accel, 0.00)
else:
if CS.pedal_gas > 0.0:
apply_accel = max(apply_accel, 0.0)
if CS.brake_pressed and CS.v_ego > 1:
apply_accel = min(apply_accel, 0.0)
# steer torque
apply_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
# only cut torque when steer state is a known fault
if CS.steer_state in [9, 25] and self.last_steer > 0:
self.last_fault_frame = frame
# Cut steering for 1s after fault
if not enabled or (frame - self.last_fault_frame < 100):
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
if not enabled and right_lane_depart and CS.v_ego > 12.5 and not CS.right_blinker_on:
apply_steer = self.last_steer + 3
apply_steer = min(apply_steer , 800)
#print "right"
#print apply_steer
apply_steer_req = 1
if not enabled and left_lane_depart and CS.v_ego > 12.5 and not CS.left_blinker_on:
apply_steer = self.last_steer - 3
apply_steer = max(apply_steer , -800)
#print "left"
#print apply_steer
apply_steer_req = 1
if abs(CS.angle_steers) > 100 or abs(CS.angle_steers_rate) > 100:
apply_steer = 0
apply_steer_req = 0
apply_steer = apply_toyota_steer_torque_limits(apply_steer, self.last_steer, CS.steer_torque_motor, SteerLimitParams)
if apply_steer == 0 and self.last_steer == 0:
apply_steer_req = 0
self.steer_angle_enabled, self.ipas_reset_counter = \
ipas_state_transition(self.steer_angle_enabled, enabled, CS.ipas_active, self.ipas_reset_counter)
#print("{0} {1} {2}".format(self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active))
# steer angle
if self.steer_angle_enabled and CS.ipas_active:
apply_angle = actuators.steerAngle
angle_lim = interp(CS.v_ego, ANGLE_MAX_BP, ANGLE_MAX_V)
apply_angle = clip(apply_angle, -angle_lim, angle_lim)
# windup slower
if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_V)
else:
angle_rate_lim = interp(CS.v_ego, ANGLE_DELTA_BP, ANGLE_DELTA_VU)
apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
else:
apply_angle = CS.angle_steers
if not enabled and CS.pcm_acc_status:
# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.standstill and not self.last_standstill:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_angle = apply_angle
self.last_accel = apply_accel
self.last_standstill = CS.standstill
can_sends = []
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if ECU.CAM in self.fake_ecus:
if self.angle_control:
can_sends.append(create_steer_command(self.packer, 0., 0, frame))
else:
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if self.angle_control:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
# accel cmd comes from DSU, but we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and ECU.DSU in self.fake_ecus) or (pcm_cancel_cmd and ECU.CAM in self.fake_ecus):
lead = lead or CS.v_ego < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
can_sends.append(create_acc_cancel_command(self.packer))
elif ECU.DSU in self.fake_ecus:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, lead))
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, lead))
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(create_gas_command(self.packer, apply_gas, frame//2))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and not forwarding_camera:
for addr in TARGET_IDS:
can_sends.append(create_video_target(frame//10, addr))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
alert_out = process_hud_alert(hud_alert)
steer, fcw = alert_out
if (any(alert_out) and not self.alert_active) or \
(not any(alert_out) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
else:
send_ui = False
# disengage msg causes a bad fault sound so play a good sound instead
if pcm_cancel_cmd:
send_ui = True
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
can_sends.append(create_fcw_command(self.packer, fcw))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars and not (ecu == ECU.CAM and forwarding_camera):
# special cases
if fr_step == 5 and ecu == ECU.CAM and bus == 1:
cnt = (((frame // 5) % 7) + 1) << 5
vl = bytes([cnt]) + vl
elif addr in (0x489, 0x48a) and bus == 0:
# add counter for those 2 messages (last 4 bits)
cnt = ((frame // 100) % 0xf) + 1
if addr == 0x48a:
# 0x48a has a 8 preceding the counter
cnt += 1 << 7
vl += bytes([cnt])
can_sends.append(make_can_msg(addr, vl, bus, False))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
left_line, right_line, lead, left_lane_depart,
right_lane_depart):
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * CarControllerParams.ACCEL_SCALE,
CarControllerParams.ACCEL_MIN,
CarControllerParams.ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(
new_steer, self.last_steer, CS.out.steeringTorqueEps,
CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
# Cut steering while we're in a known fault state (2s)
if not enabled or CS.steer_state in [9, 25]:
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
if not enabled and CS.pcm_acc_status:
# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if CS.out.standstill and not self.last_standstill and CS.CP.carFingerprint not in NO_STOP_TIMER_CAR:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_accel = apply_accel
self.last_standstill = CS.out.standstill
can_sends = []
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if Ecu.fwdCamera in self.fake_ecus:
can_sends.append(
create_steer_command(self.packer, apply_steer, apply_steer_req,
frame))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (
pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint == CAR.LEXUS_IS:
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(
create_accel_command(self.packer, apply_accel,
pcm_cancel_cmd, self.standstill_req,
lead))
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd, False,
lead))
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(
create_gas_command(self.packer, apply_gas, frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert == VisualAlert.steerRequired
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
can_sends.append(
create_ui_command(self.packer, steer_alert, pcm_cancel_cmd,
left_line, right_line, left_lane_depart,
right_lane_depart))
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
left_line, right_line, lead, left_lane_depart,
right_lane_depart):
# dp
if frame % 500 == 0:
modified = get_last_modified()
if self.dp_last_modified != modified:
self.dragon_lane_departure_warning = False if params.get(
"DragonToyotaLaneDepartureWarning",
encoding='utf8') == "0" else True
self.dragon_toyota_sng_mod = True if params.get(
"DragonToyotaSnGMod", encoding='utf8') == "1" else False
self.dragon_lat_ctrl, \
self.dragon_enable_steering_on_signal, \
self.dragon_blinker_off_timer = common_controller_update()
self.dp_last_modified = modified
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only negative accel if interceptor is detected. otherwise, send the regular value
# +0.06 offset to reduce ABS pump usage when OP is engaged
apply_accel = 0.06 - actuators.brake
else:
apply_accel = actuators.gas - actuators.brake
apply_accel, self.accel_steady = accel_hysteresis(
apply_accel, self.accel_steady, enabled)
apply_accel = clip(apply_accel * ACCEL_SCALE, ACCEL_MIN, ACCEL_MAX)
# steer torque
new_steer = int(round(actuators.steer * SteerLimitParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(
new_steer, self.last_steer, CS.out.steeringTorqueEps,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
# only cut torque when steer state is a known fault
if CS.steer_state in [9, 25]:
self.last_fault_frame = frame
# # Cut steering for 2s after fault
if not enabled: # or (frame - self.last_fault_frame < 200):
apply_steer = 0
apply_steer_req = 0
else:
apply_steer_req = 1
if not enabled and CS.pcm_acc_status:
# send pcm acc cancel cmd if drive is disabled but pcm is still on, or if the system can't be activated
pcm_cancel_cmd = 1
# on entering standstill, send standstill request
if not self.dragon_toyota_sng_mod and CS.out.standstill and not self.last_standstill:
self.standstill_req = True
if CS.pcm_acc_status != 8:
# pcm entered standstill or it's disabled
self.standstill_req = False
self.last_steer = apply_steer
self.last_accel = apply_accel
self.last_standstill = CS.out.standstill
# dp
blinker_on = CS.out.leftBlinker or CS.out.rightBlinker
if not enabled:
self.blinker_end_frame = 0
if self.last_blinker_on and not blinker_on:
self.blinker_end_frame = frame + self.dragon_blinker_off_timer
apply_steer_req = common_controller_ctrl(
enabled, self.dragon_lat_ctrl,
self.dragon_enable_steering_on_signal, blinker_on
or frame < self.blinker_end_frame, apply_steer_req)
self.last_blinker_on = blinker_on
can_sends = []
#*** control msgs ***
#print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if Ecu.fwdCamera in self.fake_ecus:
can_sends.append(
create_steer_command(self.packer, apply_steer, apply_steer_req,
frame))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (
pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
if pcm_cancel_cmd and CS.CP.carFingerprint in [
CAR.LEXUS_IS, CAR.LEXUS_ISH, CAR.LEXUS_GSH
]:
can_sends.append(create_acc_cancel_command(self.packer))
elif CS.CP.openpilotLongitudinalControl:
can_sends.append(
create_accel_command(self.packer, apply_accel,
pcm_cancel_cmd, self.standstill_req,
lead))
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd, False,
lead))
if (frame % 2 == 0) and (CS.CP.enableGasInterceptor):
# send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas.
# This prevents unexpected pedal range rescaling
can_sends.append(
create_gas_command(self.packer, apply_gas, frame // 2))
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert == VisualAlert.steerRequired
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
# dp
if self.dragon_lane_departure_warning:
dragon_left_lane_depart = left_lane_depart
dragon_right_lane_depart = right_lane_depart
else:
dragon_left_lane_depart = False
dragon_right_lane_depart = False
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
can_sends.append(
create_ui_command(self.packer, steer_alert, pcm_cancel_cmd,
left_line, right_line,
dragon_left_lane_depart,
dragon_right_lane_depart))
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends
