181 lines
6.4 KiB
Python
Executable File
181 lines
6.4 KiB
Python
Executable File
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.swaglog import cloudlog
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.ford.carstate import CarState, get_can_parser
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from selfdrive.car.ford.values import MAX_ANGLE, ECU, ECU_FINGERPRINT, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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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.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.cruise_enabled_prev = False
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# *** init the major players ***
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self.CS = CarState(CP)
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self.cp = get_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.enableCamera, self.VM)
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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 get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret.carName = "ford"
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.ford
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ret.dashcamOnly = True
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# pedal
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ret.enableCruise = True
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ret.wheelbase = 2.85
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ret.steerRatio = 14.8
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ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this
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ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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ret.steerLimitTimer = 0.8
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ret.steerRateCost = 1.0
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ret.centerToFront = ret.wheelbase * 0.44
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tire_stiffness_factor = 0.5328
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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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# 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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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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ret.steerControlType = car.CarParams.SteerControlType.angle
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1.0] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.brakeMaxBP = [5., 20.]
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ret.brakeMaxV = [1., 0.8]
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
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ret.openpilotLongitudinalControl = False
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cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
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ret.stoppingControl = False
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ret.startAccel = 0.0
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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.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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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.CS.update(self.cp)
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# create message
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ret = car.CarState.new_message()
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ret.canValid = self.cp.can_valid
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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ret.steeringPressed = self.CS.steer_override
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# gas pedal
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ret.gas = self.CS.user_gas / 100.
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ret.gasPressed = self.CS.user_gas > 0.0001
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ret.brakePressed = self.CS.brake_pressed
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ret.brakeLights = self.CS.brake_lights
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ret.cruiseState.enabled = not (self.CS.pcm_acc_status in [0, 3])
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ret.cruiseState.speed = self.CS.v_cruise_pcm
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ret.cruiseState.available = self.CS.pcm_acc_status != 0
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ret.genericToggle = self.CS.generic_toggle
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# events
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events = []
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if self.CS.steer_error:
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events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
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# enable request in prius is simple, as we activate when Toyota is active (rising edge)
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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elif not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on pedals rising edge or when brake is pressed and speed isn't zero
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if (ret.gasPressed and not self.gas_pressed_prev) or \
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(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
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events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
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ret.events = events
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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return ret.as_reader()
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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, c.actuators,
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c.hudControl.visualAlert, c.cruiseControl.cancel)
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self.frame += 1
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return can_sends
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