def update(self, enabled, CS, frame, actuators):
""" Controls thread """
can_sends = []
### STEER ###
if enabled:
# calculate steer and also set limits due to driver torque
new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
CS.out.steeringTorque, CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
if CS.out.standstill and frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
# TODO: improve the resume trigger logic by looking at actual radar data
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.RESUME))
else:
apply_steer = 0
self.steer_rate_limited = False
if CS.out.cruiseState.enabled and frame % 20 == 0:
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 5hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, CS.CP.carFingerprint, Buttons.CANCEL))
self.apply_steer_last = apply_steer
can_sends.append(mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
frame, apply_steer, CS.cam_lkas))
return can_sends
def update(self, c, CS, frame):
can_sends = []
apply_steer = 0
self.steer_rate_limited = False
if c.enabled:
# calculate steer and also set limits due to driver torque
new_steer = int(
round(c.actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(
new_steer, self.apply_steer_last, CS.out.steeringTorque,
CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
if CS.out.standstill and frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
# TODO: improve the resume trigger logic by looking at actual radar data
can_sends.append(
mazdacan.create_button_cmd(self.packer,
CS.CP.carFingerprint,
CS.crz_btns_counter,
Buttons.RESUME))
if c.cruiseControl.cancel or (CS.out.cruiseState.enabled
and not c.enabled):
# if brake is pressed, let us wait >20ms before trying to disable crz to avoid
# a race condition with the stock system, where the second cancel from openpilot
# will disable the crz 'main on'
self.brake_counter = self.brake_counter + 1
if frame % 20 == 0 and not (CS.out.brakePressed
and self.brake_counter < 3):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 5hz until we sync with stock ACC state
can_sends.append(
mazdacan.create_button_cmd(self.packer,
CS.CP.carFingerprint,
CS.crz_btns_counter,
Buttons.CANCEL))
else:
self.brake_counter = 0
self.apply_steer_last = apply_steer
# send HUD alerts
if frame % 50 == 0:
ldw = c.hudControl.visualAlert == VisualAlert.ldw
steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
can_sends.append(
mazdacan.create_alert_command(self.packer, CS.cam_laneinfo,
ldw, steer_required))
# send steering command
can_sends.append(
mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
frame, apply_steer, CS.cam_lkas))
return can_sends
def update(self, enabled, CS, frame, actuators, dragonconf):
""" Controls thread """
can_sends = []
### STEER ###
if enabled:
# calculate steer and also set limits due to driver torque
new_steer = int(round(actuators.steer *
SteerLimitParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(
new_steer, self.apply_steer_last, CS.out.steeringTorque,
SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
if CS.out.standstill and frame % 20 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button at 5hz if we're engaged at standstill to support full stop and go!
# TODO: improve the resume trigger logic by looking at actual radar data
can_sends.append(
mazdacan.create_button_cmd(self.packer,
CS.CP.carFingerprint,
Buttons.RESUME))
else:
apply_steer = 0
self.steer_rate_limited = False
if CS.out.cruiseState.enabled and frame % 20 == 0:
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 5hz until we sync with stock ACC state
can_sends.append(
mazdacan.create_button_cmd(self.packer,
CS.CP.carFingerprint,
Buttons.CANCEL))
# 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 + dragonconf.dpSignalOffDelay
apply_steer = common_controller_ctrl(
enabled, dragonconf, blinker_on or frame < self.blinker_end_frame,
apply_steer, CS.out.vEgo)
self.last_blinker_on = blinker_on
self.apply_steer_last = apply_steer
can_sends.append(
mazdacan.create_steering_control(self.packer, CS.CP.carFingerprint,
frame, apply_steer, CS.cam_lkas))
return can_sends
def update(self, CC, CS):
can_sends = []
apply_steer = 0
self.steer_rate_limited = False
if CC.latActive:
# calculate steer and also set limits due to driver torque
new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
CS.out.steeringTorque, CarControllerParams)
self.steer_rate_limited = new_steer != apply_steer
if CC.cruiseControl.cancel:
# If brake is pressed, let us wait >70ms before trying to disable crz to avoid
# a race condition with the stock system, where the second cancel from openpilot
# will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
# read 3 messages and most likely sync state before we attempt cancel.
self.brake_counter = self.brake_counter + 1
if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
# Cancel Stock ACC if it's enabled while OP is disengaged
# Send at a rate of 10hz until we sync with stock ACC state
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
else:
self.brake_counter = 0
if CC.cruiseControl.resume and self.frame % 5 == 0:
# Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
# Send Resume button when planner wants car to move
can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
self.apply_steer_last = apply_steer
# send HUD alerts
if self.frame % 50 == 0:
ldw = CC.hudControl.visualAlert == VisualAlert.ldw
steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
# TODO: find a way to silence audible warnings so we can add more hud alerts
steer_required = steer_required and CS.lkas_allowed_speed
can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
# send steering command
can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
self.frame, apply_steer, CS.cam_lkas))
new_actuators = CC.actuators.copy()
new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
self.frame += 1
return new_actuators, can_sends