122 lines
4.4 KiB
Python
122 lines
4.4 KiB
Python
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.ocelot.values import CAR, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.swaglog import cloudlog
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from selfdrive.car.interfaces import CarInterfaceBase
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 3.0
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@staticmethod
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def myround(x, base=5):
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return base * round(x/base)
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=[]): # pylint: disable=dangerous-default-value
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "ocelot"
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ret.safetyModel = car.CarParams.SafetyModel.allOutput
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ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
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ret.steerLimitTimer = 0.4
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ret.lateralTuning.init('pid')
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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stop_and_go = True
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ret.safetyParam = 100
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ret.wheelbase = 2.36
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ret.steerRatio = 21
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tire_stiffness_factor = 0.444
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ret.mass = 810 + STD_CARGO_KG
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
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ret.lateralTuning.pid.kf = 0.00007 # full torque for 20 deg at 80mph means 0.00007818594
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ret.steerRateCost = 1.
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ret.centerToFront = ret.wheelbase * 0.44
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.enableGasInterceptor = 0x201 in fingerprint[0]
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ret.openpilotLongitudinalControl = True
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cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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ret.minEnableSpeed = -1.
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ret.longitudinalTuning.deadzoneBP = [0., 9.]
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ret.longitudinalTuning.deadzoneV = [0., .15]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kiBP = [0., 35.]
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if ret.enableGasInterceptor:
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ret.gasMaxBP = [0., 9., 35]
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ret.gasMaxV = [0.2, 0.5, 0.7]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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else:
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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# ******************* do can recv *******************
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self.cp.update_strings(can_strings)
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self.cp_body.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_body)
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ret.canValid = self.cp.can_valid and self.cp_body.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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# events
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events = self.create_common_events(ret)
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if ret.vEgo < self.CP.minEnableSpeed and self.CP.openpilotLongitudinalControl:
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events.add(EventName.belowEngageSpeed)
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if c.actuators.gas > 0.1:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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if ret.vEgo < 0.001:
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# while in standstill, send a user alert
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events.add(EventName.manualRestart)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame,
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c.actuators, c.cruiseControl.cancel,
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c.hudControl.visualAlert, c.hudControl.leftLaneVisible,
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c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
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c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
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self.frame += 1
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return can_sends
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