114 lines
5.6 KiB
Python
114 lines
5.6 KiB
Python
import numpy as np
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from iqdbc.can import CANPacker
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from iqdbc.car import Bus, structs
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from iqdbc.car.lateral import apply_steer_angle_limits_vm
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from iqdbc.car.interfaces import CarControllerBase
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from iqdbc.car.tesla import TESLA_BLINKERS
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from iqdbc.car.tesla.teslacan import TeslaCAN
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from iqdbc.car.tesla.values import CarControllerParams
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from iqdbc.car.vehicle_model import VehicleModel
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from iqpilot.selfdrive.car.enhanced_stock_longitudinal_control import get_set_speed_kph_from_params
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from iqdbc.lvbs.car.tesla.torque_blend import TorqueBlendController
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from iqdbc.lvbs.car.tesla.values import TeslaFlagsIQ
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def get_safety_CP():
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# We use the TESLA_MODEL_Y platform for lateral limiting to match safety
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# A Model 3 at 40 m/s using the Model Y limits sees a <0.3% difference in max angle (from curvature factor)
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from iqdbc.car.tesla.interface import CarInterface
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return CarInterface.get_non_essential_params("TESLA_MODEL_Y")
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class CarController(CarControllerBase):
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def __init__(self, dbc_names, CP, CP_IQ):
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CarControllerBase.__init__(self, dbc_names, CP, CP_IQ)
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self.coop_steer = TorqueBlendController()
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self.apply_angle_last = 0
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self.packer = CANPacker(dbc_names[Bus.party])
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self.tesla_can = TeslaCAN(CP, self.packer)
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self.apply_accel_last = 0.0
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# Vehicle model used for lateral limiting
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self.VM = VehicleModel(get_safety_CP())
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self.has_vehicle_bus = bool(CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS)
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self.body_controls_counter_last = -1
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self.blinker_request_prev = False
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self.blinker_cancel_frame = 0
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def update(self, CC, CC_IQ, CS, now_nanos):
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actuators = CC.actuators
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can_sends = []
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# Tesla EPS enforces disabling steering on heavy lateral override force.
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# When enabling in a tight curve, we wait until user reduces steering force to start steering.
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# Canceling is done on rising edge and is handled generically with CC.cruiseControl.cancel
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lat_active = CC.latActive and CS.hands_on_level < 3
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if self.frame % CarControllerParams.STEER_STEP == 0:
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# Angular rate limit based on speed
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self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
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lat_active, CarControllerParams, self.VM)
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can_sends.append(self.tesla_can.create_steering_control(*self.coop_steer.update(self.apply_angle_last, lat_active, self.CP_IQ, CS, self.VM)))
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if self.frame % 10 == 0:
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can_sends.append(self.tesla_can.create_steering_allowed())
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# Longitudinal control
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if self.CP.openpilotLongitudinalControl:
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if self.frame % 4 == 0:
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state = 13 if CC.cruiseControl.cancel else 4 # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
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accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
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if not CC.longActive:
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accel = 0.
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self.apply_accel_last = accel
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cntr = (self.frame // 4) % 8
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set_speed_kph = get_set_speed_kph_from_params(CC_IQ.params)
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can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive,
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CS.cruise_override, set_speed_kph=set_speed_kph,
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comfort_mode=bool(getattr(CC, "longComfortMode", False)),
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stopping=getattr(actuators, "longControlState", None) ==
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structs.CarControl.Actuators.LongControlState.stopping,
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cancel=CC.cruiseControl.cancel))
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else:
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# Increment counter so cancel is prioritized even without openpilot longitudinal
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if CC.cruiseControl.cancel:
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cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
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can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, True))
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# Nav blinker control via DAS_bodyControls on the vehicle bus, phase-locked to the car's
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# counter. Cancel on the trailing edge since the body controller latches the signal.
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stock_dat = getattr(CS, 'das_body_controls_dat', b"")
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# FIXME: gate by FingerPrint
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if TESLA_BLINKERS and self.has_vehicle_bus and len(stock_dat) >= 8:
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left_blinker = CC.leftBlinker
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right_blinker = CC.rightBlinker
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driver_opposes = (left_blinker and CS.out.rightBlinker) or (right_blinker and CS.out.leftBlinker)
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if driver_opposes:
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left_blinker = right_blinker = False
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nav_requesting = left_blinker or right_blinker
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if self.blinker_request_prev and not nav_requesting and not driver_opposes:
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self.blinker_cancel_frame = self.frame + 150 # ~1.5 s
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self.blinker_request_prev = nav_requesting
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cancel = not nav_requesting and not driver_opposes and self.frame < self.blinker_cancel_frame
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body_counter = stock_dat[6] >> 4
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if body_counter != self.body_controls_counter_last:
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can_sends.append(self.tesla_can.create_body_controls(stock_dat, left_blinker, right_blinker, cancel))
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self.body_controls_counter_last = body_counter
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# TODO: HUD control
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new_actuators = actuators.as_builder()
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new_actuators.steeringAngleDeg = self.apply_angle_last
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new_actuators.accel = self.apply_accel_last
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new_actuators.curvature = float(self.coop_steer.debug_angle_desired_limited) # debug
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new_actuators.torque = float(self.coop_steer.override_angle_accu) # debug
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self.frame += 1
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return new_actuators, can_sends
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