def update(self, sendcan, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, audible_alert):
#update custom UI buttons and alerts
CS.UE.update_custom_ui()
if (frame % 1000 == 0):
CS.cstm_btns.send_button_info()
CS.UE.uiSetCarEvent(CS.cstm_btns.car_folder,CS.cstm_btns.car_name)
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only send brake values 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)
# Get the angle from ALCA.
alca_enabled = False
alca_steer = 0.
alca_angle = 0.
turn_signal_needed = 0
# Update ALCA status and custom button every 0.1 sec.
if self.ALCA.pid == None:
self.ALCA.set_pid(CS)
if (frame % 10 == 0):
self.ALCA.update_status(CS.cstm_btns.get_button_status("alca") > 0)
# steer torque
alca_angle, alca_steer, alca_enabled, turn_signal_needed = self.ALCA.update(enabled, CS, frame, actuators)
apply_steer = int(round(alca_steer * STEER_MAX))
# steer torque
#apply_steer = int(round(actuators.steer * STEER_MAX))
max_lim = min(max(CS.steer_torque_motor + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
min_lim = max(min(CS.steer_torque_motor - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
apply_steer = clip(apply_steer, min_lim, max_lim)
# slow rate if steer torque increases in magnitude
if self.last_steer > 0:
apply_steer = clip(apply_steer, max(self.last_steer - STEER_DELTA_DOWN, - STEER_DELTA_UP), self.last_steer + STEER_DELTA_UP)
else:
apply_steer = clip(apply_steer, self.last_steer - STEER_DELTA_UP, min(self.last_steer + STEER_DELTA_DOWN, STEER_DELTA_UP))
# dropping torque immediately might cause eps to temp fault. On the other hand, safety_toyota
# cuts steer torque immediately anyway TODO: monitor if this is a real issue
# 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 self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active
# steer angle
if self.steer_angle_enabled and CS.ipas_active:
apply_angle = alca_angle
#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 = []
# Enable blindspot debug mode once
if BLINDSPOTDEBUG:
self.blindspot_poll_counter += 1
if self.blindspot_poll_counter > 1000: # 10 seconds after start
if CS.left_blinker_on:
self.blindspot_blink_counter_left += 1
#print "debug Left Blinker on"
elif CS.right_blinker_on:
self.blindspot_blink_counter_right += 1
else:
self.blindspot_blink_counter_left = 0
self.blindspot_blink_counter_right = 0
#print "debug Left Blinker off"
if self.blindspot_debug_enabled_left:
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, False))
self.blindspot_debug_enabled_left = False
#print "debug Left blindspot debug disabled"
if self.blindspot_debug_enabled_right:
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, False))
self.blindspot_debug_enabled_right = False
#print "debug Right blindspot debug disabled"
if self.blindspot_blink_counter_left > 9 and not self.blindspot_debug_enabled_left: #check blinds
can_sends.append(set_blindspot_debug_mode(LEFT_BLINDSPOT, True))
#print "debug Left blindspot debug enabled"
self.blindspot_debug_enabled_left = True
if self.blindspot_blink_counter_right > 5 and not self.blindspot_debug_enabled_right: #enable blindspot debug mode
if CS.v_ego > 6: #polling at low speeds switches camera off
can_sends.append(set_blindspot_debug_mode(RIGHT_BLINDSPOT, True))
#print "debug Right blindspot debug enabled"
self.blindspot_debug_enabled_right = True
if self.blindspot_debug_enabled_left:
if self.blindspot_poll_counter % 20 == 0 and self.blindspot_poll_counter > 1001: # Poll blindspots at 5 Hz
can_sends.append(poll_blindspot_status(LEFT_BLINDSPOT))
if self.blindspot_debug_enabled_right:
if self.blindspot_poll_counter % 20 == 10 and self.blindspot_poll_counter > 1005: # Poll blindspots at 5 Hz
can_sends.append(poll_blindspot_status(RIGHT_BLINDSPOT))
#*** control msgs ***
#print "steer", 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:
if CS.lane_departure_toggle_on:
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
else:
can_sends.append(create_steer_command(self.packer, 0., 0, frame))
# rav4h with dsu disconnected
if self.angle_control:
if CS.lane_departure_toggle_on:
can_sends.append(create_ipas_steer_command(self.packer, apply_angle, self.steer_angle_enabled,
ECU.APGS in self.fake_ecus))
else:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
elif ECU.APGS in self.fake_ecus:
can_sends.append(create_ipas_steer_command(self.packer, 0, 0, True))
if CS.cstm_btns.get_button_status("tr") > 0:
distance = 0b01110011 #x73 comma with toggle - toggle is 5th bit from right
CS.cstm_btns.set_button_status("tr", 0)
else:
distance = 0b01100011 #x63 comma with toggle - toggle is 5th bit from right
# 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):
if ECU.DSU in self.fake_ecus:
can_sends.append(create_accel_command(self.packer, apply_accel, pcm_cancel_cmd, self.standstill_req, distance))
else:
can_sends.append(create_accel_command(self.packer, 0, pcm_cancel_cmd, False, distance))
if 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))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
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, audible_alert)
steer, fcw, sound1, sound2 = 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
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, sound1, sound2))
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:
# special cases
if fr_step == 5 and ecu == ECU.CAM and bus == 1:
cnt = (((frame / 5) % 7) + 1) << 5
vl = chr(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 += chr(cnt)
can_sends.append(make_can_msg(addr, vl, bus, False))
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
def update(self, sendcan, enabled, CS, frame, actuators, pcm_cancel_cmd,
hud_alert, audible_alert, forwarding_camera, left_line,
right_line, lead):
#update custom UI buttons and alerts
CS.UE.update_custom_ui()
if (frame % 1000 == 0):
CS.cstm_btns.send_button_info()
CS.UE.uiSetCarEvent(CS.cstm_btns.car_folder, CS.cstm_btns.car_name)
# *** 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)
# Get the angle from ALCA.
alca_enabled = False
alca_steer = 0.
alca_angle = 0.
turn_signal_needed = 0
# Update ALCA status and custom button every 0.1 sec.
if self.ALCA.pid == None:
self.ALCA.set_pid(CS)
if (frame % 10 == 0):
self.ALCA.update_status(CS.cstm_btns.get_button_status("alca") > 0)
# steer torque
alca_angle, alca_steer, alca_enabled, turn_signal_needed = self.ALCA.update(
enabled, CS, frame, actuators)
apply_steer = int(round(alca_steer * SteerLimitParams.STEER_MAX))
apply_steer = apply_toyota_steer_torque_limits(apply_steer,
self.last_steer,
CS.steer_torque_motor,
SteerLimitParams)
# 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 self.steer_angle_enabled, self.ipas_reset_counter, CS.ipas_active
# steer angle
if self.steer_angle_enabled and CS.ipas_active:
apply_angle = alca_angle
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", 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
if 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 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))
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, audible_alert)
steer, fcw, sound1, sound2 = 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
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(
create_ui_command(self.packer, steer, sound1, sound2,
left_line, right_line))
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 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 = chr(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 += chr(cnt)
can_sends.append(make_can_msg(addr, vl, bus, False))
sendcan.send(
can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
def update(self, sendcan, enabled, CS, frame, actuators, pcm_cancel_cmd,
hud_alert, audible_alert):
# *** compute control surfaces ***
# gas and brake
apply_gas = clip(actuators.gas, 0., 1.)
if CS.CP.enableGasInterceptor:
# send only send brake values 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
apply_steer = int(round(actuators.steer * STEER_MAX))
max_lim = min(
max(CS.steer_torque_motor + STEER_ERROR_MAX, STEER_ERROR_MAX),
STEER_MAX)
min_lim = max(
min(CS.steer_torque_motor - STEER_ERROR_MAX, -STEER_ERROR_MAX),
-STEER_MAX)
apply_steer = clip(apply_steer, min_lim, max_lim)
# slow rate if steer torque increases in magnitude
if self.last_steer > 0:
apply_steer = clip(
apply_steer,
max(self.last_steer - STEER_DELTA_DOWN, -STEER_DELTA_UP),
self.last_steer + STEER_DELTA_UP)
else:
apply_steer = clip(
apply_steer, self.last_steer - STEER_DELTA_UP,
min(self.last_steer + STEER_DELTA_DOWN, STEER_DELTA_UP))
# dropping torque immediately might cause eps to temp fault. On the other hand, safety_toyota
# cuts steer torque immediately anyway TODO: monitor if this is a real issue
# only cut torque when steer state is a known fault
if not enabled or CS.steer_state in [9, 25]:
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 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", 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):
if ECU.DSU in self.fake_ecus:
can_sends.append(
create_accel_command(self.packer, apply_accel,
pcm_cancel_cmd, self.standstill_req))
else:
can_sends.append(
create_accel_command(self.packer, 0, pcm_cancel_cmd,
False))
if 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))
if frame % 10 == 0 and ECU.CAM in self.fake_ecus and self.car_fingerprint not in NO_DSU_CAR:
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, audible_alert)
steer, fcw, sound1, sound2 = 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
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(
create_ui_command(self.packer, steer, sound1, sound2))
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:
# special cases
if fr_step == 5 and ecu == ECU.CAM and bus == 1:
cnt = (((frame / 5) % 7) + 1) << 5
vl = chr(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 += chr(cnt)
can_sends.append(make_can_msg(addr, vl, bus, False))
sendcan.send(
can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())