def update(self, sendcan, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
snd_beep, snd_chime):
""" Controls thread """
## Todo add code to detect Tesla DAS (camera) and go into listen and record mode only (for AP1 / AP2 cars)
if not self.enable_camera:
return
# *** no output if not enabled ***
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 = True
# vehicle hud display, wait for one update from 10Hz 0x304 msg
if hud_show_lanes:
hud_lanes = 1
else:
hud_lanes = 0
# TODO: factor this out better
if enabled:
if hud_show_car:
hud_car = 2
else:
hud_car = 1
else:
hud_car = 0
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
#if CS.CP.radarOffCan:
#print chime, alert_id, hud_alert
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel),
int(round(hud_v_cruise)), 1, hud_car, 0xc1, hud_lanes,
int(snd_beep), snd_chime, fcw_display, acc_alert,
steer_required)
if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
print "INVALID HUD", hud
hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
# **** process the car messages ****
# *** compute control surfaces ***
STEER_MAX = 420
# Prevent steering while stopped
MIN_STEERING_VEHICLE_VELOCITY = 0.05 # m/s
vehicle_moving = (CS.v_ego >= MIN_STEERING_VEHICLE_VELOCITY)
# Basic highway lane change logic
changing_lanes = CS.right_blinker_on or CS.left_blinker_on
#upodate custom UI buttons and alerts
CS.UE.update_custom_ui()
if (frame % 1000 == 0):
CS.cstm_btns.send_button_info()
# Update statuses for custom buttons 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)
#print CS.cstm_btns.get_button_status("alca")
if CS.pedal_hardware_present:
#update PCC module info
self.PCC.update_stat(CS, True, sendcan)
self.ACC.enable_adaptive_cruise = False
else:
# Update ACC module info.
self.ACC.update_stat(CS, True)
self.PCC.enable_pedal_cruise = False
# Update HSO module info.
human_control = False
# update CS.v_cruise_pcm based on module selected.
if self.ACC.enable_adaptive_cruise:
CS.v_cruise_pcm = self.ACC.acc_speed_kph
elif self.PCC.enable_pedal_cruise:
CS.v_cruise_pcm = self.PCC.pedal_speed_kph
else:
CS.v_cruise_pcm = CS.v_cruise_actual
# Get the angle from ALCA.
alca_enabled = False
turn_signal_needed = 0
alca_steer = 0.
apply_angle, alca_steer, alca_enabled, turn_signal_needed = self.ALCA.update(
enabled, CS, frame, actuators)
apply_angle = -apply_angle # Tesla is reversed vs OP.
human_control = self.HSO.update_stat(CS, enabled, actuators, frame)
human_lane_changing = changing_lanes and not alca_enabled
enable_steer_control = (enabled and not human_lane_changing
and not human_control)
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)
# If human control, send the steering angle as read at steering wheel.
if human_control:
apply_angle = CS.angle_steers
# If blinker is on send the actual angle.
#if (changing_lanes and (CS.laneChange_enabled < 2)):
# apply_angle = CS.angle_steers
# Send CAN commands.
can_sends = []
send_step = 5
if (True):
"""#First we emulate DAS.
if (CS.DAS_info_frm == -1):
#initialize all frames
CS.DAS_info_frm = frame # 1.00 s interval
CS.DAS_status_frm = (frame + 10) % 100 # 0.50 s interval
CS.DAS_status2_frm = (frame + 35) % 100 # 0.50 s interval in between DAS_status
CS.DAS_bodyControls_frm = (frame + 40) % 100 # 0.50 s interval
CS.DAS_lanes_frm = (frame + 5) % 100 # 0.10 s interval
CS.DAS_objects_frm = (frame + 2) % 100 # 0.03 s interval
CS.DAS_pscControl_frm = (frame + 3) % 100 # 0.04 s interval
if (CS.DAS_info_frm == frame):
can_sends.append(teslacan.create_DAS_info_msg(CS.DAS_info_msg))
CS.DAS_info_msg += 1
CS.DAS_info_msg = CS.DAS_info_msg % 10
if (CS.DAS_status_frm == frame):
can_sends.append(teslacan.create_DAS_status_msg(CS.DAS_status_idx))
CS.DAS_status_idx += 1
CS.DAS_status_idx = CS.DAS_status_idx % 16
CS.DAS_status_frm = (CS.DAS_status_frm + 50) % 100
if (CS.DAS_status2_frm == frame):
can_sends.append(teslacan.create_DAS_status2_msg(CS.DAS_status2_idx))
CS.DAS_status2_idx += 1
CS.DAS_status2_idx = CS.DAS_status2_idx % 16
CS.DAS_status2_frm = (CS.DAS_status2_frm + 50) % 100
if (CS.DAS_bodyControls_frm == frame):
can_sends.append(teslacan.create_DAS_bodyControls_msg(CS.DAS_bodyControls_idx))
CS.DAS_bodyControls_idx += 1
CS.DAS_bodyControls_idx = CS.DAS_bodyControls_idx % 16
CS.DAS_bodyControls_frm = (CS.DAS_bodyControls_frm + 50) % 100
if (CS.DAS_lanes_frm == frame):
can_sends.append(teslacan.create_DAS_lanes_msg(CS.DAS_lanes_idx))
CS.DAS_lanes_idx += 1
CS.DAS_lanes_idx = CS.DAS_lanes_idx % 16
CS.DAS_lanes_frm = (CS.DAS_lanes_frm + 10) % 100
if (CS.DAS_pscControl_frm == frame):
can_sends.append(teslacan.create_DAS_pscControl_msg(CS.DAS_pscControl_idx))
CS.DAS_pscControl_idx += 1
CS.DAS_pscControl_idx = CS.DAS_pscControl_idx % 16
CS.DAS_pscControl_frm = (CS.DAS_pscControl_frm + 4) % 100
if (CS.DAS_objects_frm == frame):
can_sends.append(teslacan.create_DAS_objects_msg(CS.DAS_objects_idx))
CS.DAS_objects_idx += 1
CS.DAS_objects_idx = CS.DAS_objects_idx % 16
CS.DAS_objects_frm = (CS.DAS_objects_frm + 3) % 100
# end of DAS emulation """
idx = frame % 16
can_sends.append(
teslacan.create_steering_control(enable_steer_control,
apply_angle, idx))
can_sends.append(teslacan.create_epb_enable_signal(idx))
cruise_btn = None
if self.ACC.enable_adaptive_cruise and not self.PCC.pedal_hardware_present:
cruise_btn = self.ACC.update_acc(enabled, CS, frame, actuators,
pcm_speed)
if (cruise_btn != None) or ((turn_signal_needed > 0) and
(frame % 2 == 0)):
cruise_msg = teslacan.create_cruise_adjust_msg(
spdCtrlLvr_stat=cruise_btn,
turnIndLvr_Stat=turn_signal_needed,
real_steering_wheel_stalk=CS.steering_wheel_stalk)
# Send this CAN msg first because it is racing against the real stalk.
can_sends.insert(0, cruise_msg)
apply_accel = 0.
if self.PCC.pedal_hardware_present: # and (frame % 10) == 0:
apply_accel, accel_needed, accel_idx = self.PCC.update_pdl(
enabled, CS, frame, actuators, pcm_speed)
can_sends.append(
teslacan.create_pedal_command_msg(apply_accel,
int(accel_needed),
accel_idx))
self.last_angle = apply_angle
self.last_accel = apply_accel
sendcan.send(
can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
def update(self, sendcan, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
snd_beep, snd_chime):
""" Controls thread """
## Todo add code to detect Tesla DAS (camera) and go into listen and record mode only (for AP1 / AP2 cars)
if not self.enable_camera:
return
# *** no output if not enabled ***
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 = True
# vehicle hud display, wait for one update from 10Hz 0x304 msg
if hud_show_lanes:
hud_lanes = 1
else:
hud_lanes = 0
# TODO: factor this out better
if enabled:
if hud_show_car:
hud_car = 2
else:
hud_car = 1
else:
hud_car = 0
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
#if CS.CP.radarOffCan:
#print chime, alert_id, hud_alert
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel),
int(round(hud_v_cruise)), 1, hud_car, 0xc1, hud_lanes,
int(snd_beep), snd_chime, fcw_display, acc_alert,
steer_required)
if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
print "INVALID HUD", hud
hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
# **** process the car messages ****
# *** compute control surfaces ***
STEER_MAX = 420
# Prevent steering while stopped
MIN_STEERING_VEHICLE_VELOCITY = 0.05 # m/s
vehicle_moving = (CS.v_ego >= MIN_STEERING_VEHICLE_VELOCITY)
# Basic highway lane change logic
changing_lanes = CS.right_blinker_on or CS.left_blinker_on
#upodate custom UI buttons and alerts
CS.UE.update_custom_ui()
if (frame % 1000 == 0):
CS.cstm_btns.send_button_info()
# Update statuses for custom buttons 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)
#print CS.cstm_btns.get_button_status("alca")
if CS.pedal_interceptor_available:
#update PCC module info
self.PCC.update_stat(CS, True, sendcan)
self.ACC.enable_adaptive_cruise = False
else:
# Update ACC module info.
self.ACC.update_stat(CS, True)
self.PCC.enable_pedal_cruise = False
# Update HSO module info.
human_control = False
# update CS.v_cruise_pcm based on module selected.
if self.ACC.enable_adaptive_cruise:
CS.v_cruise_pcm = self.ACC.acc_speed_kph
elif self.PCC.enable_pedal_cruise:
CS.v_cruise_pcm = self.PCC.pedal_speed_kph
else:
CS.v_cruise_pcm = CS.v_cruise_actual
# Get the angle from ALCA.
alca_enabled = False
turn_signal_needed = 0
alca_steer = 0.
apply_angle, alca_steer, alca_enabled, turn_signal_needed = self.ALCA.update(
enabled, CS, frame, actuators)
apply_angle = -apply_angle # Tesla is reversed vs OP.
human_control = self.HSO.update_stat(CS, enabled, actuators, frame)
human_lane_changing = changing_lanes and not alca_enabled
enable_steer_control = (enabled and not human_lane_changing
and not human_control)
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)
# If human control, send the steering angle as read at steering wheel.
if human_control:
apply_angle = CS.angle_steers
# If blinker is on send the actual angle.
#if (changing_lanes and (CS.laneChange_enabled < 2)):
# apply_angle = CS.angle_steers
# Send CAN commands.
can_sends = []
send_step = 5
if (True):
#First we emulate DAS.
#send DAS_bootID
if not self.sent_DAS_bootID:
can_sends.append(teslacan.create_DAS_bootID_msg())
self.sent_DAS_bootID = True
else:
#get speed limit
for socket, _ in self.poller.poll(0):
if socket is self.speedlimit:
self.speedlimit_mph = ui.SpeedLimitData.from_bytes(
socket.recv()).speed * CV.MS_TO_MPH
#send DAS_info
if frame % 100 == 0:
can_sends.append(
teslacan.create_DAS_info_msg(CS.DAS_info_msg))
CS.DAS_info_msg += 1
CS.DAS_info_msg = CS.DAS_info_msg % 10
#send DAS_status
if frame % 50 == 0:
op_status = 0x02
hands_on_state = 0x00
speed_limit_kph = int(self.speedlimit_mph)
alca_state = 0x08
if enabled:
op_status = 0x03
alca_state = 0x08 + turn_signal_needed
#if not enable_steer_control:
#op_status = 0x04
#hands_on_state = 0x03
if hud_alert == AH.STEER:
if snd_chime == CM.MUTE:
hands_on_state = 0x03
else:
hands_on_state = 0x05
can_sends.append(
teslacan.create_DAS_status_msg(CS.DAS_status_idx,
op_status,
speed_limit_kph,
alca_state,
hands_on_state))
CS.DAS_status_idx += 1
CS.DAS_status_idx = CS.DAS_status_idx % 16
#send DAS_status2
if frame % 50 == 0:
collision_warning = 0x00
acc_speed_limit_mph = CS.v_cruise_pcm * CV.KPH_TO_MPH
if hud_alert == AH.FCW:
collision_warning = 0x01
can_sends.append(
teslacan.create_DAS_status2_msg(
CS.DAS_status2_idx, acc_speed_limit_mph,
collision_warning))
CS.DAS_status2_idx += 1
CS.DAS_status2_idx = CS.DAS_status2_idx % 16
#send DAS_bodyControl
if frame % 50 == 0:
can_sends.append(
teslacan.create_DAS_bodyControls_msg(
CS.DAS_bodyControls_idx, turn_signal_needed))
CS.DAS_bodyControls_idx += 1
CS.DAS_bodyControls_idx = CS.DAS_bodyControls_idx % 16
#send DAS_control
if frame % 4 == 0:
acc_speed_limit_kph = self.ACC.new_speed #pcm_speed * CV.MS_TO_KPH
accel_min = -15
accel_max = 5
speed_control_enabled = enabled and (acc_speed_limit_kph >
0)
can_sends.append(
teslacan.create_DAS_control(CS.DAS_control_idx,
speed_control_enabled,
acc_speed_limit_kph,
accel_min, accel_max))
CS.DAS_control_idx += 1
CS.DAS_control_idx = CS.DAS_control_idx % 8
#send DAS_lanes
if frame % 10 == 0:
can_sends.append(
teslacan.create_DAS_lanes_msg(CS.DAS_lanes_idx))
CS.DAS_lanes_idx += 1
CS.DAS_lanes_idx = CS.DAS_lanes_idx % 16
#send DAS_pscControl
if frame % 4 == 0:
can_sends.append(
teslacan.create_DAS_pscControl_msg(
CS.DAS_pscControl_idx))
CS.DAS_pscControl_idx += 1
CS.DAS_pscControl_idx = CS.DAS_pscControl_idx % 16
#send DAS_telemetryPeriodic
if frame % 4 == 0:
can_sends.append(
teslacan.create_DAS_telemetryPeriodic(
CS.DAS_telemetryPeriodic1_idx,
CS.DAS_telemetryPeriodic2_idx))
CS.DAS_telemetryPeriodic2_idx += 1
CS.DAS_telemetryPeriodic2_idx = CS.DAS_telemetryPeriodic2_idx % 10
if CS.DAS_telemetryPeriodic2_idx == 0:
CS.DAS_telemetryPeriodic1_idx += 2
CS.DAS_telemetryPeriodic1_idx = CS.DAS_telemetryPeriodic1_idx % 16
#send DAS_telemetryEvent
if frame % 10 == 0:
#can_sends.append(teslacan.create_DAS_telemetryEvent(CS.DAS_telemetryEvent1_idx,CS.DAS_telemetryEvent2_idx))
CS.DAS_telemetryEvent2_idx += 1
CS.DAS_telemetryEvent2_idx = CS.DAS_telemetryEvent2_idx % 10
if CS.DAS_telemetryEvent2_idx == 0:
CS.DAS_telemetryEvent1_idx += 2
CS.DAS_telemetryEvent1_idx = CS.DAS_telemetryEvent1_idx % 16
#send DAS_visualDebug
if (frame + 1) % 10 == 0:
can_sends.append(teslacan.create_DAS_visualDebug_msg())
#send DAS_chNm
if (frame + 2) % 10 == 0:
can_sends.append(teslacan.create_DAS_chNm())
#send DAS_objects
if frame % 3 == 0:
can_sends.append(
teslacan.create_DAS_objects_msg(CS.DAS_objects_idx))
CS.DAS_objects_idx += 1
CS.DAS_objects_idx = CS.DAS_objects_idx % 16
#send DAS_warningMatrix0
if frame % 6 == 0:
can_sends.append(
teslacan.create_DAS_warningMatrix0(
CS.DAS_warningMatrix0_idx))
CS.DAS_warningMatrix0_idx += 1
CS.DAS_warningMatrix0_idx = CS.DAS_warningMatrix0_idx % 16
#send DAS_warningMatrix3
if (frame + 3) % 6 == 0:
driverResumeRequired = 0
if enabled and not enable_steer_control:
driverResumeRequired = 1
can_sends.append(
teslacan.create_DAS_warningMatrix3(
CS.DAS_warningMatrix3_idx, driverResumeRequired))
CS.DAS_warningMatrix3_idx += 1
CS.DAS_warningMatrix3_idx = CS.DAS_warningMatrix3_idx % 16
#send DAS_warningMatrix1
if frame % 100 == 0:
can_sends.append(
teslacan.create_DAS_warningMatrix1(
CS.DAS_warningMatrix1_idx))
CS.DAS_warningMatrix1_idx += 1
CS.DAS_warningMatrix1_idx = CS.DAS_warningMatrix1_idx % 16
# end of DAS emulation """
idx = frame % 16
can_sends.append(
teslacan.create_steering_control(enable_steer_control,
apply_angle, idx))
can_sends.append(teslacan.create_epb_enable_signal(idx))
cruise_btn = None
if self.ACC.enable_adaptive_cruise and not CS.pedal_interceptor_available:
cruise_btn = self.ACC.update_acc(enabled, CS, frame, actuators,
pcm_speed)
#add fake carConfig to trigger IC to display AP
if frame % 2 == 0:
carConfig_msg = teslacan.create_GTW_carConfig_msg(
real_carConfig_data=CS.real_carConfig,
dasHw=1,
autoPilot=1,
fRadarHw=1)
#can_sends.append(carConfig_msg)
if cruise_btn or (turn_signal_needed > 0 and frame % 2 == 0):
cruise_msg = teslacan.create_cruise_adjust_msg(
spdCtrlLvr_stat=cruise_btn,
turnIndLvr_Stat=0, #turn_signal_needed,
real_steering_wheel_stalk=CS.steering_wheel_stalk)
# Send this CAN msg first because it is racing against the real stalk.
can_sends.insert(0, cruise_msg)
apply_accel = 0.
if CS.pedal_interceptor_available and frame % 5 == 0: # pedal processed at 20Hz
apply_accel, accel_needed, accel_idx = self.PCC.update_pdl(
enabled, CS, frame, actuators, pcm_speed)
can_sends.append(
teslacan.create_pedal_command_msg(apply_accel,
int(accel_needed),
accel_idx))
self.last_angle = apply_angle
self.last_accel = apply_accel
sendcan.send(
can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
def update(self, sendcan, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
snd_beep, snd_chime):
""" Controls thread """
## Todo add code to detect Tesla DAS (camera) and go into listen and record mode only (for AP1 / AP2 cars)
if not self.enable_camera:
return
# *** apply brake hysteresis ***
brake, self.braking, self.brake_steady = actuator_hystereses(
actuators.brake, self.braking, self.brake_steady, CS.v_ego,
CS.CP.carFingerprint)
# *** no output if not enabled ***
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 = True
# *** rate limit after the enable check ***
self.brake_last = rate_limit(brake, self.brake_last, -2., 1. / 100)
# vehicle hud display, wait for one update from 10Hz 0x304 msg
if hud_show_lanes:
hud_lanes = 1
else:
hud_lanes = 0
# TODO: factor this out better
if enabled:
if hud_show_car:
hud_car = 2
else:
hud_car = 1
else:
hud_car = 0
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
#if CS.CP.radarOffCan:
#print chime, alert_id, hud_alert
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel),
int(round(hud_v_cruise)), 1, hud_car, 0xc1, hud_lanes,
int(snd_beep), snd_chime, fcw_display, acc_alert,
steer_required)
if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
print "INVALID HUD", hud
hud = HUDData(0xc6, 255, 64, 0xc0, 209, 0x40, 0, 0, 0, 0)
# **** process the car messages ****
# *** compute control surfaces ***
STEER_MAX = 0x4000 #16384
# Prototype Angle Max. slope of 180 degree at 8.3 m/s (30 km/h) and 25 degree at 33.3 m/s (120 KM/h)
# = -62x + 2314.6
# Angle max = -62*V(m/s) + 2314.6
# Gives for example:
# 180 degree at 30 km/h
# 145 degree at 50 km/h
# 94 degree at 80 km/h
# 59 degree at 100 km/h
# 42 degree at 110 km/h
# 25 degree at 120 km/h
USER_STEER_MAX = (-62.0 * CS.v_ego) + 2314.6
# Basic highway lane change logic
enable_steer_control = (not CS.right_blinker_on
and not CS.left_blinker_on and enabled)
# steer torque is converted back to CAN reference (positive when steering right)
apply_steer = int(
clip((-actuators.steer * 100) + STEER_MAX - (CS.angle_steers * 10),
STEER_MAX - USER_STEER_MAX, STEER_MAX + USER_STEER_MAX))
# Send CAN commands.
can_sends = []
send_step = 5
if (frame % send_step) == 0:
idx = (frame / send_step) % 16
can_sends.append(
teslacan.create_steering_control(enable_steer_control,
apply_steer, idx))
can_sends.append(teslacan.create_epb_enable_signal(idx))
sendcan.send(
can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())