206 lines
7.0 KiB
Python
206 lines
7.0 KiB
Python
import os
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import time
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from typing import Dict
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from cereal import car
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from common.kalman.simple_kalman import KF1D
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from common.realtime import DT_CTRL
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from selfdrive.car import gen_empty_fingerprint
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
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from selfdrive.controls.lib.events import Events
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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GearShifter = car.CarState.GearShifter
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EventName = car.CarEvent.EventName
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# WARNING: this value was determined based on the model's training distribution,
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# model predictions above this speed can be unpredictable
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MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
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# generic car and radar interfaces
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class CarInterfaceBase():
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def __init__(self, CP, CarController, CarState):
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self.CP = CP
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self.VM = VehicleModel(CP)
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self.frame = 0
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self.low_speed_alert = False
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if CarState is not None:
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self.CS = CarState(CP)
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self.cp = self.CS.get_can_parser(CP)
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self.cp_cam = self.CS.get_cam_can_parser(CP)
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self.cp_body = self.CS.get_body_can_parser(CP)
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self.CC = None
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if CarController is not None:
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self.CC = CarController(self.cp.dbc_name, CP, self.VM)
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.
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@staticmethod
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def compute_gb(accel, speed):
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raise NotImplementedError
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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raise NotImplementedError
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# returns a set of default params to avoid repetition in car specific params
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@staticmethod
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def get_std_params(candidate, fingerprint):
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ret = car.CarParams.new_message()
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ret.carFingerprint = candidate
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# standard ALC params
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ret.steerControlType = car.CarParams.SteerControlType.torque
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [1.]
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ret.minSteerSpeed = 0.
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# stock ACC by default
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ret.enableCruise = True
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [.5] # half max brake
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.openpilotLongitudinalControl = False
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ret.startAccel = 0.0
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ret.minSpeedCan = 0.3
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ret.stoppingBrakeRate = 0.2 # brake_travel/s while trying to stop
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ret.startingBrakeRate = 0.8 # brake_travel/s while releasing on restart
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ret.stoppingControl = False
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [1.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [1.]
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return ret
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# returns a car.CarState, pass in car.CarControl
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def update(self, c, can_strings):
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raise NotImplementedError
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# return sendcan, pass in a car.CarControl
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def apply(self, c):
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raise NotImplementedError
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def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True): # pylint: disable=dangerous-default-value
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events = Events()
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if cs_out.doorOpen:
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events.add(EventName.doorOpen)
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if cs_out.seatbeltUnlatched:
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events.add(EventName.seatbeltNotLatched)
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if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
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events.add(EventName.wrongGear)
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if cs_out.gearShifter == GearShifter.reverse:
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events.add(EventName.reverseGear)
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if not cs_out.cruiseState.available:
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events.add(EventName.wrongCarMode)
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if cs_out.espDisabled:
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events.add(EventName.espDisabled)
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if cs_out.gasPressed:
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events.add(EventName.gasPressed)
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if cs_out.stockFcw:
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events.add(EventName.stockFcw)
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if cs_out.stockAeb:
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events.add(EventName.stockAeb)
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if cs_out.vEgo > MAX_CTRL_SPEED:
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events.add(EventName.speedTooHigh)
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if cs_out.cruiseState.nonAdaptive:
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events.add(EventName.wrongCruiseMode)
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if cs_out.steerError:
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events.add(EventName.steerUnavailable)
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elif cs_out.steerWarning:
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if cs_out.steeringPressed:
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events.add(EventName.steerTempUnavailableUserOverride)
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else:
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events.add(EventName.steerTempUnavailable)
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# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
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# Optionally allow to press gas at zero speed to resume.
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# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
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if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
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(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
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events.add(EventName.pedalPressed)
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# we engage when pcm is active (rising edge)
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if pcm_enable:
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if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
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events.add(EventName.pcmEnable)
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elif not cs_out.cruiseState.enabled:
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events.add(EventName.pcmDisable)
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return events
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class RadarInterfaceBase():
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def __init__(self, CP):
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self.pts = {}
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self.delay = 0
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self.radar_ts = CP.radarTimeStep
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self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
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def update(self, can_strings):
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ret = car.RadarData.new_message()
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if not self.no_radar_sleep:
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time.sleep(self.radar_ts) # radard runs on RI updates
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return ret
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class CarStateBase:
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def __init__(self, CP):
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self.CP = CP
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self.car_fingerprint = CP.carFingerprint
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self.out = car.CarState.new_message()
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self.cruise_buttons = 0
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self.left_blinker_cnt = 0
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self.right_blinker_cnt = 0
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
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A=[[1.0, DT_CTRL], [0.0, 1.0]],
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C=[1.0, 0.0],
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K=[[0.12287673], [0.29666309]])
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def update_speed_kf(self, v_ego_raw):
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if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[v_ego_raw], [0.0]]
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v_ego_x = self.v_ego_kf.update(v_ego_raw)
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return float(v_ego_x[0]), float(v_ego_x[1])
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def update_blinker(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
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self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
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self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
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return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
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@staticmethod
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def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
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d: Dict[str, car.CarState.GearShifter] = {
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'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
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'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
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'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
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}
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return d.get(gear, GearShifter.unknown)
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@staticmethod
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def get_cam_can_parser(CP):
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return None
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@staticmethod
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def get_body_can_parser(CP):
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return None
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