IQ.Pilot Prebuilt Release @ 27f668a

artifacts/package_runtime/iqdbc/car/psa/carcontroller.py

@@ -0,0 +1,41 @@
+from iqdbc.can.packer import CANPacker
+from iqdbc.car import Bus
+from iqdbc.car.lateral import apply_std_steer_angle_limits
+from iqdbc.car.interfaces import CarControllerBase
+from iqdbc.car.psa.psacan import create_lka_steering
+from iqdbc.car.psa.values import CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP, CP_IQ):
+    super().__init__(dbc_names, CP, CP_IQ)
+    self.packer = CANPacker(dbc_names[Bus.main])
+    self.apply_angle_last = 0
+    self.status = 2
+
+  def update(self, CC, CC_IQ, CS, now_nanos):
+    can_sends = []
+    actuators = CC.actuators
+
+    # lateral control
+    if self.frame % 5 == 0:
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw,
+                                                 CS.out.steeringAngleDeg, CC.latActive, CarControllerParams.ANGLE_LIMITS)
+
+      # EPS disengages on steering override, activation sequence 2->3->4 to re-engage
+      # STATUS  -  0: UNAVAILABLE, 1: UNSELECTED, 2: READY, 3: AUTHORIZED, 4: ACTIVE
+      if not CC.latActive:
+        self.status = 2
+      elif not CS.eps_active and not CS.out.steeringPressed:
+        self.status = 2 if self.status == 4 else self.status + 1
+      else:
+        self.status = 4
+
+      can_sends.append(create_lka_steering(self.packer, CC.latActive, apply_angle, self.status))
+
+      self.apply_angle_last = apply_angle
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    return new_actuators, can_sends