def __init__(self, carcontroller):
self.CC = carcontroller
self.human_cruise_action_time = 0
self.automated_cruise_action_time = 0
self.radarState = messaging.sub_sock('radarState', conflate=True)
self.last_update_time = 0
self.enable_adaptive_cruise = False
self.prev_enable_adaptive_cruise = False
# Whether to re-engage automatically after being paused due to low speed or
# user-initated deceleration.
self.autoresume = False
self.adaptive = False
self.last_brake_press_time = 0
self.last_cruise_stalk_pull_time = 0
self.prev_cruise_buttons = CruiseButtons.IDLE
self.prev_pcm_acc_status = 0
self.acc_speed_kph = 0.
self.speed_limit_kph = 0.
self.prev_speed_limit_kph = 0.
self.user_has_braked = False
self.has_gone_below_min_speed = False
self.fast_decel_time = 0
self.lead_last_seen_time_ms = 0
# BB speed for testing
self.new_speed = 0
average_speed_over_x_suggestions = 20 # 1 second (20x a second)
self.fleet_speed = FleetSpeed(average_speed_over_x_suggestions)
def __init__(self, carcontroller):
self.CC = carcontroller
self.human_cruise_action_time = 0
self.pcc_available = self.prev_pcc_available = False
self.pedal_timeout_frame = 0
self.accelerator_pedal_pressed = self.prev_accelerator_pedal_pressed = False
self.automated_cruise_action_time = 0
self.last_angle = 0.0
self.radarState = messaging.sub_sock("radarState", conflate=True)
self.live_map_data = messaging.sub_sock("liveMapData", conflate=True)
self.lead_1 = None
self.last_update_time = 0
self.enable_pedal_cruise = False
self.stalk_pull_time_ms = 0
self.prev_stalk_pull_time_ms = -1000
self.prev_pcm_acc_status = 0
self.prev_cruise_buttons = CruiseButtons.IDLE
self.pedal_speed_kph = 0.0
self.speed_limit_kph = 0.0
self.prev_speed_limit_kph = 0.0
self.pedal_idx = 0
self.pedal_steady = 0.0
self.prev_tesla_accel = 0.0
self.prev_tesla_pedal = 0.0
self.torqueLevel_last = 0.0
self.prev_v_ego = 0.0
self.PedalForZeroTorque = (
18.0 # starting number for a S85, adjusts down automatically
)
self.lastTorqueForPedalForZeroTorque = TORQUE_LEVEL_DECEL
self.v_pid = 0.0
self.a_pid = 0.0
self.last_output_gb = 0.0
self.last_speed_kph = None
# for smoothing the changes in speed
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_sol = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.a_acc_sol = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
# Long Control
self.LoC = None
# when was radar data last updated?
self.lead_last_seen_time_ms = 0
self.continuous_lead_sightings = 0
self.params = Params()
average_speed_over_x_suggestions = 6 # 0.3 seconds (20x a second)
self.fleet_speed = FleetSpeed(average_speed_over_x_suggestions)