Release 260111

opendbc_repo/opendbc/car/mazda/carcontroller.py

@@ -0,0 +1,113 @@
+from opendbc.can import CANPacker
+from opendbc.car import Bus, apply_driver_steer_torque_limits, structs
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.mazda import mazdacan
+from opendbc.car.mazda.values import CarControllerParams, Buttons
+from opendbc.car.common.conversions import Conversions as CV
+from openpilot.common.params import Params
+
+VisualAlert = structs.CarControl.HUDControl.VisualAlert
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP):
+    super().__init__(dbc_names, CP)
+    self.apply_torque_last = 0
+    self.packer = CANPacker(dbc_names[Bus.pt])
+    self.brake_counter = 0
+    
+    self.activateCruise = 0
+    self.speed_from_pcm = 1
+
+  def update(self, CC, CS, now_nanos):
+
+    if self.frame % 50 == 0:
+      params = Params()
+      self.speed_from_pcm = params.get_int("SpeedFromPCM")
+
+    can_sends = []
+
+    apply_torque = 0
+
+    if CC.latActive:
+      # calculate steer and also set limits due to driver torque
+      new_torque = int(round(CC.actuators.torque * CarControllerParams.STEER_MAX))
+      apply_torque = apply_driver_steer_torque_limits(new_torque, self.apply_torque_last,
+                                                      CS.out.steeringTorque, CarControllerParams)
+
+    if CC.cruiseControl.cancel:
+      # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
+      # a race condition with the stock system, where the second cancel from openpilot
+      # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
+      # read 3 messages and most likely sync state before we attempt cancel.
+      self.brake_counter = self.brake_counter + 1
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+        # Cancel Stock ACC if it's enabled while OP is disengaged
+        # Send at a rate of 10hz until we sync with stock ACC state
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL))
+    elif False:
+      self.brake_counter = 0
+      if CC.cruiseControl.resume and self.frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button when planner wants car to move
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME))
+    else:
+      if self.frame % 20 == 0:
+        spam_button = self.make_spam_button(CC, CS)
+        if spam_button > 0:
+          self.brake_counter = 0
+          can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, self.frame // 10, spam_button))
+
+    self.apply_torque_last = apply_torque
+
+    # send HUD alerts
+    if self.frame % 50 == 0:
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
+      # TODO: find a way to silence audible warnings so we can add more hud alerts
+      steer_required = steer_required and CS.lkas_allowed_speed
+      can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
+
+    # send steering command
+    can_sends.append(mazdacan.create_steering_control(self.packer, self.CP,
+                                                      self.frame, apply_torque, CS.cam_lkas))
+
+    new_actuators = CC.actuators.as_builder()
+    new_actuators.torque = apply_torque / CarControllerParams.STEER_MAX
+    new_actuators.torqueOutputCan = apply_torque
+
+    self.frame += 1
+    return new_actuators, can_sends
+
+  def make_spam_button(self, CC, CS):
+    hud_control = CC.hudControl
+    set_speed_in_units = hud_control.setSpeed * (CV.MS_TO_KPH if CS.is_metric else CV.MS_TO_MPH)
+    target = int(set_speed_in_units+0.5)
+    target = int(round(target / 5.0) * 5.0)
+    current = int(CS.out.cruiseState.speed*CV.MS_TO_KPH + 0.5)
+    current = int(round(current / 5.0) * 5.0)
+    v_ego_kph = CS.out.vEgo * CV.MS_TO_KPH
+
+    cant_activate = CS.out.brakePressed or CS.out.gasPressed
+
+    if CC.enabled:
+      if not CS.out.cruiseState.enabled:
+        if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0 and not cant_activate:
+          self.activateCruise = 1
+          print("RESUME")
+          return Buttons.RESUME
+      elif CC.cruiseControl.resume:
+        return Buttons.RESUME
+      elif target < current and current>= 31 and self.speed_from_pcm != 1:
+        print(f"SET_MINUS target={target}, current={current}")
+        return Buttons.SET_MINUS
+      elif target > current and current < 160 and self.speed_from_pcm != 1:
+        print(f"SET_PLUS target={target}, current={current}")
+        return Buttons.SET_PLUS
+    elif CS.out.activateCruise:
+      if (hud_control.leadVisible or v_ego_kph > 10.0) and self.activateCruise == 0 and not cant_activate:
+        self.activateCruise = 1
+        print("RESUME")
+        return Buttons.RESUME
+
+    return 0