openpilot v0.8.14 release
Vehicle Researcher
parent
141c3466f1
commit
0cfecab4f6
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@ -1,3 +1,9 @@
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Version 0.8.14 (2022-0X-XX)
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========================
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* bigmodel!
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* Toyota Alphard Hybrid 2021 support
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* Toyota Avalon Hybrid 2022 support
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Version 0.8.13 (2022-02-18)
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========================
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* Improved driver monitoring
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30
SConstruct
30
SConstruct
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@ -89,7 +89,6 @@ if arch == "aarch64" or arch == "larch64":
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"/usr/local/lib",
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"/usr/lib",
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"/system/vendor/lib64",
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"/system/comma/usr/lib",
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f"#third_party/acados/{arch}/lib",
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]
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@ -119,27 +118,26 @@ else:
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cxxflags = []
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cpppath = []
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# MacOS
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if arch == "Darwin":
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brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
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yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
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libpath = [
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f"#third_party/libyuv/{yuv_dir}/lib",
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"/usr/local/lib",
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"/opt/homebrew/lib",
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"/usr/local/Homebrew/Library",
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"/usr/local/opt/openssl/lib",
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"/opt/homebrew/opt/openssl/lib",
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"/usr/local/Cellar",
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f"{brew_prefix}/lib",
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f"{brew_prefix}/Library",
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f"{brew_prefix}/opt/openssl/lib",
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f"{brew_prefix}/Cellar",
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f"#third_party/acados/{arch}/lib",
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"/System/Library/Frameworks/OpenGL.framework/Libraries",
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]
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cflags += ["-DGL_SILENCE_DEPRECATION"]
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cxxflags += ["-DGL_SILENCE_DEPRECATION"]
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cpppath += [
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"/opt/homebrew/include",
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"/usr/local/include",
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"/usr/local/opt/openssl/include",
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"/opt/homebrew/opt/openssl/include"
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f"{brew_prefix}/include",
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f"{brew_prefix}/opt/openssl/include",
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]
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# Linux 86_64
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else:
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libpath = [
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"#third_party/acados/x86_64/lib",
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@ -173,8 +171,8 @@ if arch != "Darwin":
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ldflags += ["-Wl,--as-needed", "-Wl,--no-undefined"]
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# Enable swaglog include in submodules
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cflags += ["-DSWAGLOG"]
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cxxflags += ["-DSWAGLOG"]
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cflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
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cxxflags += ['-DSWAGLOG="\\"selfdrive/common/swaglog.h\\""']
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env = Environment(
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ENV=lenv,
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@ -307,11 +305,11 @@ if arch == "Darwin":
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qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
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qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
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elif arch == "aarch64":
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qt_env['QTDIR'] = "/system/comma/usr"
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qt_env['QTDIR'] = "/usr"
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qt_dirs = [
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f"/system/comma/usr/include/qt",
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f"/usr/include/qt",
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]
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qt_dirs += [f"/system/comma/usr/include/qt/Qt{m}" for m in qt_modules]
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qt_dirs += [f"/usr/include/qt/Qt{m}" for m in qt_modules]
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qt_libs = [f"Qt5{m}" for m in qt_modules]
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qt_libs += ['EGL', 'GLESv3', 'c++_shared']
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@ -58,15 +58,19 @@ vipc_objects = env.SharedObject(vipc_sources)
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vipc = env.Library('visionipc', vipc_objects)
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libs = envCython["LIBS"]+["OpenCL", "zmq", vipc, messaging_lib, common]
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if arch == "aarch64":
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libs += ["adreno_utils"]
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vipc_frameworks = []
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vipc_libs = envCython["LIBS"] + [vipc, messaging_lib, common, "zmq"]
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if arch == "Darwin":
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del libs[libs.index('OpenCL')]
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envCython['FRAMEWORKS'] += ['OpenCL']
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envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx', LIBS=libs)
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vipc_frameworks.append('OpenCL')
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else:
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if arch == "aarch64":
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vipc_libs.append('adreno_utils')
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vipc_libs.append('OpenCL')
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envCython.Program('visionipc/visionipc_pyx.so', 'visionipc/visionipc_pyx.pyx',
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LIBS=vipc_libs, FRAMEWORKS=vipc_frameworks)
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if GetOption('test'):
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env.Program('messaging/test_runner', ['messaging/test_runner.cc', 'messaging/msgq_tests.cc'], LIBS=[messaging_lib, common])
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env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'], LIBS=[vipc, messaging_lib, 'zmq', 'pthread', 'OpenCL', common])
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env.Program('visionipc/test_runner', ['visionipc/test_runner.cc', 'visionipc/visionipc_tests.cc'],
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LIBS=['pthread'] + vipc_libs, FRAMEWORKS=vipc_frameworks)
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@ -152,6 +152,7 @@ struct CarState {
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# brake pedal, 0.0-1.0
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brake @5 :Float32; # this is user pedal only
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brakePressed @6 :Bool; # this is user pedal only
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parkingBrake @39 :Bool;
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brakeHoldActive @38 :Bool;
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# steering wheel
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@ -162,8 +163,8 @@ struct CarState {
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steeringTorqueEps @27 :Float32; # TODO: standardize units
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steeringPressed @9 :Bool; # if the user is using the steering wheel
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steeringRateLimited @29 :Bool; # if the torque is limited by the rate limiter
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steerWarning @35 :Bool; # temporary steer unavailble
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steerError @36 :Bool; # permanent steer error
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steerFaultTemporary @35 :Bool; # temporary EPS fault
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steerFaultPermanent @36 :Bool; # permanent EPS fault
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stockAeb @30 :Bool;
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stockFcw @31 :Bool;
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espDisabled @32 :Bool;
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@ -289,7 +290,8 @@ struct RadarData @0x888ad6581cf0aacb {
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struct CarControl {
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# must be true for any actuator commands to work
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enabled @0 :Bool;
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active @7 :Bool;
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latActive @11: Bool;
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longActive @12: Bool;
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# Actuator commands as computed by controlsd
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actuators @6 :Actuators;
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@ -299,8 +301,8 @@ struct CarControl {
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# and matches what is sent to the car
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actuatorsOutput @10 :Actuators;
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roll @8 :Float32;
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pitch @9 :Float32;
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orientationNED @13 :List(Float32);
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angularVelocity @14 :List(Float32);
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cruiseControl @4 :CruiseControl;
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hudControl @5 :HUDControl;
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@ -378,6 +380,9 @@ struct CarControl {
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gasDEPRECATED @1 :Float32;
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brakeDEPRECATED @2 :Float32;
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steeringTorqueDEPRECATED @3 :Float32;
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activeDEPRECATED @7 :Bool;
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rollDEPRECATED @8 :Float32;
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pitchDEPRECATED @9 :Float32;
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}
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# ****** car param ******
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@ -398,7 +403,7 @@ struct CarParams {
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minSteerSpeed @8 :Float32;
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maxSteeringAngleDeg @54 :Float32;
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safetyConfigs @62 :List(SafetyConfig);
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unsafeMode @65 :Int16;
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alternativeExperience @65 :Int16; # panda flag for features like no disengage on gas
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steerMaxBP @11 :List(Float32);
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steerMaxV @12 :List(Float32);
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@ -478,6 +483,7 @@ struct CarParams {
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kpV @1 :List(Float32);
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kiBP @2 :List(Float32);
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kiV @3 :List(Float32);
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kf @6 :Float32;
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deadzoneBP @4 :List(Float32);
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deadzoneV @5 :List(Float32);
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}
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@ -539,6 +545,7 @@ struct CarParams {
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hyundaiLegacy @23;
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hyundaiCommunity @24;
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stellantis @25;
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faw @26;
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}
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enum SteerControlType {
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@ -559,293 +559,6 @@ struct AndroidGnss @0xdfdf30d03fc485bd {
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}
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}
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struct QcomGnss @0xde94674b07ae51c1 {
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logTs @0 :UInt64;
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union {
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measurementReport @1 :MeasurementReport;
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clockReport @2 :ClockReport;
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drMeasurementReport @3 :DrMeasurementReport;
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drSvPoly @4 :DrSvPolyReport;
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rawLog @5 :Data;
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}
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enum MeasurementSource @0xd71a12b6faada7ee {
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gps @0;
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glonass @1;
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beidou @2;
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}
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enum SVObservationState @0xe81e829a0d6c83e9 {
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idle @0;
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search @1;
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searchVerify @2;
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bitEdge @3;
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trackVerify @4;
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track @5;
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restart @6;
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dpo @7;
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glo10msBe @8;
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glo10msAt @9;
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}
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struct MeasurementStatus @0xe501010e1bcae83b {
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subMillisecondIsValid @0 :Bool;
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subBitTimeIsKnown @1 :Bool;
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satelliteTimeIsKnown @2 :Bool;
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bitEdgeConfirmedFromSignal @3 :Bool;
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measuredVelocity @4 :Bool;
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fineOrCoarseVelocity @5 :Bool;
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lockPointValid @6 :Bool;
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lockPointPositive @7 :Bool;
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lastUpdateFromDifference @8 :Bool;
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lastUpdateFromVelocityDifference @9 :Bool;
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strongIndicationOfCrossCorelation @10 :Bool;
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tentativeMeasurement @11 :Bool;
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measurementNotUsable @12 :Bool;
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sirCheckIsNeeded @13 :Bool;
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probationMode @14 :Bool;
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glonassMeanderBitEdgeValid @15 :Bool;
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glonassTimeMarkValid @16 :Bool;
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gpsRoundRobinRxDiversity @17 :Bool;
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gpsRxDiversity @18 :Bool;
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gpsLowBandwidthRxDiversityCombined @19 :Bool;
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gpsHighBandwidthNu4 @20 :Bool;
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gpsHighBandwidthNu8 @21 :Bool;
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gpsHighBandwidthUniform @22 :Bool;
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multipathIndicator @23 :Bool;
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imdJammingIndicator @24 :Bool;
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lteB13TxJammingIndicator @25 :Bool;
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freshMeasurementIndicator @26 :Bool;
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multipathEstimateIsValid @27 :Bool;
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directionIsValid @28 :Bool;
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}
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struct MeasurementReport @0xf580d7d86b7b8692 {
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source @0 :MeasurementSource;
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fCount @1 :UInt32;
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gpsWeek @2 :UInt16;
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glonassCycleNumber @3 :UInt8;
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glonassNumberOfDays @4 :UInt16;
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milliseconds @5 :UInt32;
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timeBias @6 :Float32;
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clockTimeUncertainty @7 :Float32;
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clockFrequencyBias @8 :Float32;
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clockFrequencyUncertainty @9 :Float32;
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sv @10 :List(SV);
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struct SV @0xf10c595ae7bb2c27 {
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svId @0 :UInt8;
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observationState @2 :SVObservationState;
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observations @3 :UInt8;
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goodObservations @4 :UInt8;
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gpsParityErrorCount @5 :UInt16;
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glonassFrequencyIndex @1 :Int8;
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glonassHemmingErrorCount @6 :UInt8;
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filterStages @7 :UInt8;
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carrierNoise @8 :UInt16;
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latency @9 :Int16;
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predetectInterval @10 :UInt8;
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postdetections @11 :UInt16;
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unfilteredMeasurementIntegral @12 :UInt32;
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unfilteredMeasurementFraction @13 :Float32;
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unfilteredTimeUncertainty @14 :Float32;
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unfilteredSpeed @15 :Float32;
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unfilteredSpeedUncertainty @16 :Float32;
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measurementStatus @17 :MeasurementStatus;
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multipathEstimate @18 :UInt32;
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azimuth @19 :Float32;
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elevation @20 :Float32;
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carrierPhaseCyclesIntegral @21 :Int32;
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carrierPhaseCyclesFraction @22 :UInt16;
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fineSpeed @23 :Float32;
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fineSpeedUncertainty @24 :Float32;
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cycleSlipCount @25 :UInt8;
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}
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}
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struct ClockReport @0xca965e4add8f4f0b {
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hasFCount @0 :Bool;
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fCount @1 :UInt32;
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hasGpsWeek @2 :Bool;
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gpsWeek @3 :UInt16;
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hasGpsMilliseconds @4 :Bool;
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gpsMilliseconds @5 :UInt32;
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gpsTimeBias @6 :Float32;
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gpsClockTimeUncertainty @7 :Float32;
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gpsClockSource @8 :UInt8;
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hasGlonassYear @9 :Bool;
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glonassYear @10 :UInt8;
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hasGlonassDay @11 :Bool;
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glonassDay @12 :UInt16;
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hasGlonassMilliseconds @13 :Bool;
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glonassMilliseconds @14 :UInt32;
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glonassTimeBias @15 :Float32;
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glonassClockTimeUncertainty @16 :Float32;
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glonassClockSource @17 :UInt8;
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bdsWeek @18 :UInt16;
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bdsMilliseconds @19 :UInt32;
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bdsTimeBias @20 :Float32;
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bdsClockTimeUncertainty @21 :Float32;
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bdsClockSource @22 :UInt8;
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galWeek @23 :UInt16;
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galMilliseconds @24 :UInt32;
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galTimeBias @25 :Float32;
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galClockTimeUncertainty @26 :Float32;
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galClockSource @27 :UInt8;
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clockFrequencyBias @28 :Float32;
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clockFrequencyUncertainty @29 :Float32;
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frequencySource @30 :UInt8;
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gpsLeapSeconds @31 :UInt8;
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gpsLeapSecondsUncertainty @32 :UInt8;
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gpsLeapSecondsSource @33 :UInt8;
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gpsToGlonassTimeBiasMilliseconds @34 :Float32;
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gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
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gpsToBdsTimeBiasMilliseconds @36 :Float32;
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gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
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bdsToGloTimeBiasMilliseconds @38 :Float32;
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bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
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gpsToGalTimeBiasMilliseconds @40 :Float32;
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gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
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galToGloTimeBiasMilliseconds @42 :Float32;
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galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
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galToBdsTimeBiasMilliseconds @44 :Float32;
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galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
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hasRtcTime @46 :Bool;
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systemRtcTime @47 :UInt32;
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fCountOffset @48 :UInt32;
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lpmRtcCount @49 :UInt32;
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clockResets @50 :UInt32;
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}
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struct DrMeasurementReport @0x8053c39445c6c75c {
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reason @0 :UInt8;
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seqNum @1 :UInt8;
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seqMax @2 :UInt8;
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rfLoss @3 :UInt16;
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systemRtcValid @4 :Bool;
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fCount @5 :UInt32;
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clockResets @6 :UInt32;
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systemRtcTime @7 :UInt64;
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gpsLeapSeconds @8 :UInt8;
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gpsLeapSecondsUncertainty @9 :UInt8;
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gpsToGlonassTimeBiasMilliseconds @10 :Float32;
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gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
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gpsWeek @12 :UInt16;
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gpsMilliseconds @13 :UInt32;
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gpsTimeBiasMs @14 :UInt32;
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gpsClockTimeUncertaintyMs @15 :UInt32;
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gpsClockSource @16 :UInt8;
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glonassClockSource @17 :UInt8;
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glonassYear @18 :UInt8;
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glonassDay @19 :UInt16;
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glonassMilliseconds @20 :UInt32;
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glonassTimeBias @21 :Float32;
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glonassClockTimeUncertainty @22 :Float32;
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clockFrequencyBias @23 :Float32;
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clockFrequencyUncertainty @24 :Float32;
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frequencySource @25 :UInt8;
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source @26 :MeasurementSource;
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sv @27 :List(SV);
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struct SV @0xf08b81df8cbf459c {
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svId @0 :UInt8;
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glonassFrequencyIndex @1 :Int8;
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observationState @2 :SVObservationState;
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observations @3 :UInt8;
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goodObservations @4 :UInt8;
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filterStages @5 :UInt8;
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predetectInterval @6 :UInt8;
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cycleSlipCount @7 :UInt8;
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postdetections @8 :UInt16;
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measurementStatus @9 :MeasurementStatus;
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carrierNoise @10 :UInt16;
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rfLoss @11 :UInt16;
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latency @12 :Int16;
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filteredMeasurementFraction @13 :Float32;
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filteredMeasurementIntegral @14 :UInt32;
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filteredTimeUncertainty @15 :Float32;
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filteredSpeed @16 :Float32;
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filteredSpeedUncertainty @17 :Float32;
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unfilteredMeasurementFraction @18 :Float32;
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unfilteredMeasurementIntegral @19 :UInt32;
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unfilteredTimeUncertainty @20 :Float32;
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unfilteredSpeed @21 :Float32;
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unfilteredSpeedUncertainty @22 :Float32;
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multipathEstimate @23 :UInt32;
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azimuth @24 :Float32;
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elevation @25 :Float32;
|
||||
dopplerAcceleration @26 :Float32;
|
||||
fineSpeed @27 :Float32;
|
||||
fineSpeedUncertainty @28 :Float32;
|
||||
|
||||
carrierPhase @29 :Float64;
|
||||
fCount @30 :UInt32;
|
||||
|
||||
parityErrorCount @31 :UInt16;
|
||||
goodParity @32 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct DrSvPolyReport @0xb1fb80811a673270 {
|
||||
svId @0 :UInt16;
|
||||
frequencyIndex @1 :Int8;
|
||||
|
||||
hasPosition @2 :Bool;
|
||||
hasIono @3 :Bool;
|
||||
hasTropo @4 :Bool;
|
||||
hasElevation @5 :Bool;
|
||||
polyFromXtra @6 :Bool;
|
||||
hasSbasIono @7 :Bool;
|
||||
|
||||
iode @8 :UInt16;
|
||||
t0 @9 :Float64;
|
||||
xyz0 @10 :List(Float64);
|
||||
xyzN @11 :List(Float64);
|
||||
other @12 :List(Float32);
|
||||
|
||||
positionUncertainty @13 :Float32;
|
||||
ionoDelay @14 :Float32;
|
||||
ionoDot @15 :Float32;
|
||||
sbasIonoDelay @16 :Float32;
|
||||
sbasIonoDot @17 :Float32;
|
||||
tropoDelay @18 :Float32;
|
||||
elevation @19 :Float32;
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct LidarPts @0xe3d6685d4e9d8f7a {
|
||||
r @0 :List(UInt16); # uint16 m*500.0
|
||||
theta @1 :List(UInt16); # uint16 deg*100.0
|
||||
|
|
|
|||
300
cereal/log.capnp
300
cereal/log.capnp
|
|
@ -126,6 +126,7 @@ struct FrameData {
|
|||
# Timestamps
|
||||
timestampEof @2 :UInt64;
|
||||
timestampSof @8 :UInt64;
|
||||
processingTime @23 :Float32;
|
||||
|
||||
# Exposure
|
||||
integLines @4 :Int32;
|
||||
|
|
@ -274,6 +275,7 @@ struct GpsLocationData {
|
|||
external @5;
|
||||
ublox @6;
|
||||
trimble @7;
|
||||
qcomdiag @8;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -289,6 +291,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
|
|||
networkType @22 :NetworkType;
|
||||
networkInfo @31 :NetworkInfo;
|
||||
networkStrength @24 :NetworkStrength;
|
||||
networkMetered @41 :Bool;
|
||||
lastAthenaPingTime @32 :UInt64;
|
||||
|
||||
started @11 :Bool;
|
||||
|
|
@ -389,7 +392,7 @@ struct PandaState @0xa7649e2575e4591e {
|
|||
ignitionCan @13 :Bool;
|
||||
safetyModel @14 :Car.CarParams.SafetyModel;
|
||||
safetyParam @20 :Int16;
|
||||
unsafeMode @23 :Int16;
|
||||
alternativeExperience @23 :Int16;
|
||||
faultStatus @15 :FaultStatus;
|
||||
powerSaveEnabled @16 :Bool;
|
||||
uptime @17 :UInt32;
|
||||
|
|
@ -427,6 +430,7 @@ struct PandaState @0xa7649e2575e4591e {
|
|||
interruptRateKlineInit @19;
|
||||
interruptRateClockSource @20;
|
||||
interruptRateTick @21;
|
||||
interruptRateExti @22;
|
||||
# Update max fault type in boardd when adding faults
|
||||
}
|
||||
|
||||
|
|
@ -688,6 +692,7 @@ struct ControlsState @0x97ff69c53601abf1 {
|
|||
|
||||
struct ModelDataV2 {
|
||||
frameId @0 :UInt32;
|
||||
frameIdExtra @20 :UInt32;
|
||||
frameAge @1 :UInt32;
|
||||
frameDropPerc @2 :Float32;
|
||||
timestampEof @3 :UInt64;
|
||||
|
|
@ -1214,6 +1219,293 @@ struct UbloxGnss {
|
|||
}
|
||||
}
|
||||
|
||||
struct QcomGnss @0xde94674b07ae51c1 {
|
||||
logTs @0 :UInt64;
|
||||
union {
|
||||
measurementReport @1 :MeasurementReport;
|
||||
clockReport @2 :ClockReport;
|
||||
drMeasurementReport @3 :DrMeasurementReport;
|
||||
drSvPoly @4 :DrSvPolyReport;
|
||||
rawLog @5 :Data;
|
||||
}
|
||||
|
||||
enum MeasurementSource @0xd71a12b6faada7ee {
|
||||
gps @0;
|
||||
glonass @1;
|
||||
beidou @2;
|
||||
}
|
||||
|
||||
enum SVObservationState @0xe81e829a0d6c83e9 {
|
||||
idle @0;
|
||||
search @1;
|
||||
searchVerify @2;
|
||||
bitEdge @3;
|
||||
trackVerify @4;
|
||||
track @5;
|
||||
restart @6;
|
||||
dpo @7;
|
||||
glo10msBe @8;
|
||||
glo10msAt @9;
|
||||
}
|
||||
|
||||
struct MeasurementStatus @0xe501010e1bcae83b {
|
||||
subMillisecondIsValid @0 :Bool;
|
||||
subBitTimeIsKnown @1 :Bool;
|
||||
satelliteTimeIsKnown @2 :Bool;
|
||||
bitEdgeConfirmedFromSignal @3 :Bool;
|
||||
measuredVelocity @4 :Bool;
|
||||
fineOrCoarseVelocity @5 :Bool;
|
||||
lockPointValid @6 :Bool;
|
||||
lockPointPositive @7 :Bool;
|
||||
lastUpdateFromDifference @8 :Bool;
|
||||
lastUpdateFromVelocityDifference @9 :Bool;
|
||||
strongIndicationOfCrossCorelation @10 :Bool;
|
||||
tentativeMeasurement @11 :Bool;
|
||||
measurementNotUsable @12 :Bool;
|
||||
sirCheckIsNeeded @13 :Bool;
|
||||
probationMode @14 :Bool;
|
||||
|
||||
glonassMeanderBitEdgeValid @15 :Bool;
|
||||
glonassTimeMarkValid @16 :Bool;
|
||||
|
||||
gpsRoundRobinRxDiversity @17 :Bool;
|
||||
gpsRxDiversity @18 :Bool;
|
||||
gpsLowBandwidthRxDiversityCombined @19 :Bool;
|
||||
gpsHighBandwidthNu4 @20 :Bool;
|
||||
gpsHighBandwidthNu8 @21 :Bool;
|
||||
gpsHighBandwidthUniform @22 :Bool;
|
||||
multipathIndicator @23 :Bool;
|
||||
|
||||
imdJammingIndicator @24 :Bool;
|
||||
lteB13TxJammingIndicator @25 :Bool;
|
||||
freshMeasurementIndicator @26 :Bool;
|
||||
|
||||
multipathEstimateIsValid @27 :Bool;
|
||||
directionIsValid @28 :Bool;
|
||||
}
|
||||
|
||||
struct MeasurementReport @0xf580d7d86b7b8692 {
|
||||
source @0 :MeasurementSource;
|
||||
|
||||
fCount @1 :UInt32;
|
||||
|
||||
gpsWeek @2 :UInt16;
|
||||
glonassCycleNumber @3 :UInt8;
|
||||
glonassNumberOfDays @4 :UInt16;
|
||||
|
||||
milliseconds @5 :UInt32;
|
||||
timeBias @6 :Float32;
|
||||
clockTimeUncertainty @7 :Float32;
|
||||
clockFrequencyBias @8 :Float32;
|
||||
clockFrequencyUncertainty @9 :Float32;
|
||||
|
||||
sv @10 :List(SV);
|
||||
|
||||
struct SV @0xf10c595ae7bb2c27 {
|
||||
svId @0 :UInt8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
gpsParityErrorCount @5 :UInt16;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
glonassHemmingErrorCount @6 :UInt8;
|
||||
filterStages @7 :UInt8;
|
||||
carrierNoise @8 :UInt16;
|
||||
latency @9 :Int16;
|
||||
predetectInterval @10 :UInt8;
|
||||
postdetections @11 :UInt16;
|
||||
|
||||
unfilteredMeasurementIntegral @12 :UInt32;
|
||||
unfilteredMeasurementFraction @13 :Float32;
|
||||
unfilteredTimeUncertainty @14 :Float32;
|
||||
unfilteredSpeed @15 :Float32;
|
||||
unfilteredSpeedUncertainty @16 :Float32;
|
||||
measurementStatus @17 :MeasurementStatus;
|
||||
multipathEstimate @18 :UInt32;
|
||||
azimuth @19 :Float32;
|
||||
elevation @20 :Float32;
|
||||
carrierPhaseCyclesIntegral @21 :Int32;
|
||||
carrierPhaseCyclesFraction @22 :UInt16;
|
||||
fineSpeed @23 :Float32;
|
||||
fineSpeedUncertainty @24 :Float32;
|
||||
cycleSlipCount @25 :UInt8;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
struct ClockReport @0xca965e4add8f4f0b {
|
||||
hasFCount @0 :Bool;
|
||||
fCount @1 :UInt32;
|
||||
|
||||
hasGpsWeek @2 :Bool;
|
||||
gpsWeek @3 :UInt16;
|
||||
hasGpsMilliseconds @4 :Bool;
|
||||
gpsMilliseconds @5 :UInt32;
|
||||
gpsTimeBias @6 :Float32;
|
||||
gpsClockTimeUncertainty @7 :Float32;
|
||||
gpsClockSource @8 :UInt8;
|
||||
|
||||
hasGlonassYear @9 :Bool;
|
||||
glonassYear @10 :UInt8;
|
||||
hasGlonassDay @11 :Bool;
|
||||
glonassDay @12 :UInt16;
|
||||
hasGlonassMilliseconds @13 :Bool;
|
||||
glonassMilliseconds @14 :UInt32;
|
||||
glonassTimeBias @15 :Float32;
|
||||
glonassClockTimeUncertainty @16 :Float32;
|
||||
glonassClockSource @17 :UInt8;
|
||||
|
||||
bdsWeek @18 :UInt16;
|
||||
bdsMilliseconds @19 :UInt32;
|
||||
bdsTimeBias @20 :Float32;
|
||||
bdsClockTimeUncertainty @21 :Float32;
|
||||
bdsClockSource @22 :UInt8;
|
||||
|
||||
galWeek @23 :UInt16;
|
||||
galMilliseconds @24 :UInt32;
|
||||
galTimeBias @25 :Float32;
|
||||
galClockTimeUncertainty @26 :Float32;
|
||||
galClockSource @27 :UInt8;
|
||||
|
||||
clockFrequencyBias @28 :Float32;
|
||||
clockFrequencyUncertainty @29 :Float32;
|
||||
frequencySource @30 :UInt8;
|
||||
gpsLeapSeconds @31 :UInt8;
|
||||
gpsLeapSecondsUncertainty @32 :UInt8;
|
||||
gpsLeapSecondsSource @33 :UInt8;
|
||||
|
||||
gpsToGlonassTimeBiasMilliseconds @34 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @35 :Float32;
|
||||
gpsToBdsTimeBiasMilliseconds @36 :Float32;
|
||||
gpsToBdsTimeBiasMillisecondsUncertainty @37 :Float32;
|
||||
bdsToGloTimeBiasMilliseconds @38 :Float32;
|
||||
bdsToGloTimeBiasMillisecondsUncertainty @39 :Float32;
|
||||
gpsToGalTimeBiasMilliseconds @40 :Float32;
|
||||
gpsToGalTimeBiasMillisecondsUncertainty @41 :Float32;
|
||||
galToGloTimeBiasMilliseconds @42 :Float32;
|
||||
galToGloTimeBiasMillisecondsUncertainty @43 :Float32;
|
||||
galToBdsTimeBiasMilliseconds @44 :Float32;
|
||||
galToBdsTimeBiasMillisecondsUncertainty @45 :Float32;
|
||||
|
||||
hasRtcTime @46 :Bool;
|
||||
systemRtcTime @47 :UInt32;
|
||||
fCountOffset @48 :UInt32;
|
||||
lpmRtcCount @49 :UInt32;
|
||||
clockResets @50 :UInt32;
|
||||
}
|
||||
|
||||
struct DrMeasurementReport @0x8053c39445c6c75c {
|
||||
|
||||
reason @0 :UInt8;
|
||||
seqNum @1 :UInt8;
|
||||
seqMax @2 :UInt8;
|
||||
rfLoss @3 :UInt16;
|
||||
|
||||
systemRtcValid @4 :Bool;
|
||||
fCount @5 :UInt32;
|
||||
clockResets @6 :UInt32;
|
||||
systemRtcTime @7 :UInt64;
|
||||
|
||||
gpsLeapSeconds @8 :UInt8;
|
||||
gpsLeapSecondsUncertainty @9 :UInt8;
|
||||
gpsToGlonassTimeBiasMilliseconds @10 :Float32;
|
||||
gpsToGlonassTimeBiasMillisecondsUncertainty @11 :Float32;
|
||||
|
||||
gpsWeek @12 :UInt16;
|
||||
gpsMilliseconds @13 :UInt32;
|
||||
gpsTimeBiasMs @14 :UInt32;
|
||||
gpsClockTimeUncertaintyMs @15 :UInt32;
|
||||
gpsClockSource @16 :UInt8;
|
||||
|
||||
glonassClockSource @17 :UInt8;
|
||||
glonassYear @18 :UInt8;
|
||||
glonassDay @19 :UInt16;
|
||||
glonassMilliseconds @20 :UInt32;
|
||||
glonassTimeBias @21 :Float32;
|
||||
glonassClockTimeUncertainty @22 :Float32;
|
||||
|
||||
clockFrequencyBias @23 :Float32;
|
||||
clockFrequencyUncertainty @24 :Float32;
|
||||
frequencySource @25 :UInt8;
|
||||
|
||||
source @26 :MeasurementSource;
|
||||
|
||||
sv @27 :List(SV);
|
||||
|
||||
struct SV @0xf08b81df8cbf459c {
|
||||
svId @0 :UInt8;
|
||||
glonassFrequencyIndex @1 :Int8;
|
||||
observationState @2 :SVObservationState;
|
||||
observations @3 :UInt8;
|
||||
goodObservations @4 :UInt8;
|
||||
filterStages @5 :UInt8;
|
||||
predetectInterval @6 :UInt8;
|
||||
cycleSlipCount @7 :UInt8;
|
||||
postdetections @8 :UInt16;
|
||||
|
||||
measurementStatus @9 :MeasurementStatus;
|
||||
|
||||
carrierNoise @10 :UInt16;
|
||||
rfLoss @11 :UInt16;
|
||||
latency @12 :Int16;
|
||||
|
||||
filteredMeasurementFraction @13 :Float32;
|
||||
filteredMeasurementIntegral @14 :UInt32;
|
||||
filteredTimeUncertainty @15 :Float32;
|
||||
filteredSpeed @16 :Float32;
|
||||
filteredSpeedUncertainty @17 :Float32;
|
||||
|
||||
unfilteredMeasurementFraction @18 :Float32;
|
||||
unfilteredMeasurementIntegral @19 :UInt32;
|
||||
unfilteredTimeUncertainty @20 :Float32;
|
||||
unfilteredSpeed @21 :Float32;
|
||||
unfilteredSpeedUncertainty @22 :Float32;
|
||||
|
||||
multipathEstimate @23 :UInt32;
|
||||
azimuth @24 :Float32;
|
||||
elevation @25 :Float32;
|
||||
dopplerAcceleration @26 :Float32;
|
||||
fineSpeed @27 :Float32;
|
||||
fineSpeedUncertainty @28 :Float32;
|
||||
|
||||
carrierPhase @29 :Float64;
|
||||
fCount @30 :UInt32;
|
||||
|
||||
parityErrorCount @31 :UInt16;
|
||||
goodParity @32 :Bool;
|
||||
}
|
||||
}
|
||||
|
||||
struct DrSvPolyReport @0xb1fb80811a673270 {
|
||||
svId @0 :UInt16;
|
||||
frequencyIndex @1 :Int8;
|
||||
|
||||
hasPosition @2 :Bool;
|
||||
hasIono @3 :Bool;
|
||||
hasTropo @4 :Bool;
|
||||
hasElevation @5 :Bool;
|
||||
polyFromXtra @6 :Bool;
|
||||
hasSbasIono @7 :Bool;
|
||||
|
||||
iode @8 :UInt16;
|
||||
t0 @9 :Float64;
|
||||
xyz0 @10 :List(Float64);
|
||||
xyzN @11 :List(Float64);
|
||||
other @12 :List(Float32);
|
||||
|
||||
positionUncertainty @13 :Float32;
|
||||
ionoDelay @14 :Float32;
|
||||
ionoDot @15 :Float32;
|
||||
sbasIonoDelay @16 :Float32;
|
||||
sbasIonoDot @17 :Float32;
|
||||
tropoDelay @18 :Float32;
|
||||
elevation @19 :Float32;
|
||||
elevationDot @20 :Float32;
|
||||
elevationUncertainty @21 :Float32;
|
||||
velocityCoeff @22 :List(Float64);
|
||||
}
|
||||
}
|
||||
|
||||
struct Clocks {
|
||||
bootTimeNanos @0 :UInt64;
|
||||
monotonicNanos @1 :UInt64;
|
||||
|
|
@ -1276,6 +1568,9 @@ struct DriverState {
|
|||
phoneUse @22 :Float32;
|
||||
occludedProb @23 :Float32;
|
||||
|
||||
readyProb @24 :List(Float32);
|
||||
notReadyProb @25 :List(Float32);
|
||||
|
||||
irPwrDEPRECATED @10 :Float32;
|
||||
descriptorDEPRECATED @1 :List(Float32);
|
||||
stdDEPRECATED @2 :Float32;
|
||||
|
|
@ -1285,6 +1580,7 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
|
|||
events @0 :List(Car.CarEvent);
|
||||
faceDetected @1 :Bool;
|
||||
isDistracted @2 :Bool;
|
||||
distractedType @17 :UInt32;
|
||||
awarenessStatus @3 :Float32;
|
||||
posePitchOffset @6 :Float32;
|
||||
posePitchValidCount @7 :UInt32;
|
||||
|
|
@ -1461,6 +1757,7 @@ struct Event {
|
|||
lateralPlan @64 :LateralPlan;
|
||||
ubloxGnss @34 :UbloxGnss;
|
||||
ubloxRaw @39 :Data;
|
||||
qcomGnss @31 :QcomGnss;
|
||||
gpsLocationExternal @48 :GpsLocationData;
|
||||
driverState @59 :DriverState;
|
||||
liveParameters @61 :LiveParametersData;
|
||||
|
|
@ -1517,7 +1814,6 @@ struct Event {
|
|||
gpsPlannerPlanDEPRECATED @41 :Legacy.GPSPlannerPlan;
|
||||
applanixRawDEPRECATED @42 :Data;
|
||||
androidGnssDEPRECATED @30 :Legacy.AndroidGnss;
|
||||
qcomGnssDEPRECATD @31 :Legacy.QcomGnss;
|
||||
lidarPtsDEPRECATED @32 :Legacy.LidarPts;
|
||||
navStatusDEPRECATED @38 :Legacy.NavStatus;
|
||||
trafficEventsDEPRECATED @43 :List(Legacy.TrafficEvent);
|
||||
|
|
|
|||
|
|
@ -1,7 +1,8 @@
|
|||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
#include "selfdrive/common/swaglog.h"
|
||||
// cppcheck-suppress preprocessorErrorDirective
|
||||
#include SWAGLOG
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
|
|
|
|||
|
|
@ -94,7 +94,7 @@ def drain_sock(sock: SubSocket, wait_for_one: bool = False) -> List[capnp.lib.ca
|
|||
|
||||
|
||||
# TODO: print when we drop packets?
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_sock(sock: SubSocket, wait: bool = False) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
"""Same as drain sock, but only returns latest message. Consider using conflate instead."""
|
||||
dat = None
|
||||
|
||||
|
|
@ -114,13 +114,13 @@ def recv_sock(sock: SubSocket, wait: bool = False) -> Union[None, capnp.lib.capn
|
|||
|
||||
return dat
|
||||
|
||||
def recv_one(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_one(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive()
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
return dat
|
||||
|
||||
def recv_one_or_none(sock: SubSocket) -> Union[None, capnp.lib.capnp._DynamicStructReader]:
|
||||
def recv_one_or_none(sock: SubSocket) -> Optional[capnp.lib.capnp._DynamicStructReader]:
|
||||
dat = sock.receive(non_blocking=True)
|
||||
if dat is not None:
|
||||
dat = log_from_bytes(dat)
|
||||
|
|
@ -133,7 +133,7 @@ def recv_one_retry(sock: SubSocket) -> capnp.lib.capnp._DynamicStructReader:
|
|||
if dat is not None:
|
||||
return log_from_bytes(dat)
|
||||
|
||||
class SubMaster():
|
||||
class SubMaster:
|
||||
def __init__(self, services: List[str], poll: Optional[List[str]] = None,
|
||||
ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
|
||||
addr: str = "127.0.0.1"):
|
||||
|
|
@ -236,7 +236,7 @@ class SubMaster():
|
|||
service_list = self.alive.keys()
|
||||
return self.all_alive(service_list=service_list) and self.all_valid(service_list=service_list)
|
||||
|
||||
class PubMaster():
|
||||
class PubMaster:
|
||||
def __init__(self, services: List[str]):
|
||||
self.sock = {}
|
||||
for s in services:
|
||||
|
|
|
|||
|
|
@ -44,6 +44,7 @@ services = {
|
|||
"procLog": (True, 0.5),
|
||||
"gpsLocationExternal": (True, 10., 10),
|
||||
"ubloxGnss": (True, 10.),
|
||||
"qcomGnss": (True, 2.),
|
||||
"clocks": (True, 1., 1),
|
||||
"ubloxRaw": (True, 20.),
|
||||
"liveLocationKalman": (True, 20., 5),
|
||||
|
|
|
|||
|
|
@ -12,12 +12,14 @@
|
|||
#define VISIONBUF_SYNC_TO_DEVICE 1
|
||||
|
||||
enum VisionStreamType {
|
||||
VISION_STREAM_RGB_BACK,
|
||||
VISION_STREAM_RGB_FRONT,
|
||||
VISION_STREAM_RGB_WIDE,
|
||||
VISION_STREAM_RGB_ROAD,
|
||||
VISION_STREAM_RGB_DRIVER,
|
||||
VISION_STREAM_RGB_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_ROAD,
|
||||
VISION_STREAM_DRIVER,
|
||||
VISION_STREAM_WIDE_ROAD,
|
||||
|
||||
VISION_STREAM_RGB_MAP,
|
||||
VISION_STREAM_MAX,
|
||||
};
|
||||
|
|
|
|||
|
|
@ -16,12 +16,13 @@ from .visionipc cimport VisionBuf as cppVisionBuf
|
|||
from .visionipc cimport VisionIpcBufExtra
|
||||
|
||||
cpdef enum VisionStreamType:
|
||||
VISION_STREAM_RGB_BACK
|
||||
VISION_STREAM_RGB_FRONT
|
||||
VISION_STREAM_RGB_WIDE
|
||||
VISION_STREAM_RGB_ROAD
|
||||
VISION_STREAM_RGB_DRIVER
|
||||
VISION_STREAM_RGB_WIDE_ROAD
|
||||
VISION_STREAM_ROAD
|
||||
VISION_STREAM_DRIVER
|
||||
VISION_STREAM_WIDE_ROAD
|
||||
VISION_STREAM_RGB_MAP
|
||||
|
||||
|
||||
cdef class VisionIpcServer:
|
||||
|
|
|
|||
|
|
@ -14,7 +14,7 @@
|
|||
|
||||
std::string get_endpoint_name(std::string name, VisionStreamType type){
|
||||
if (messaging_use_zmq()){
|
||||
assert(name == "camerad");
|
||||
assert(name == "camerad" || name == "navd");
|
||||
return std::to_string(9000 + static_cast<int>(type));
|
||||
} else {
|
||||
return "visionipc_" + name + "_" + std::to_string(type);
|
||||
|
|
|
|||
|
|
@ -40,11 +40,11 @@ TEST_CASE("Check buffers"){
|
|||
TEST_CASE("Check yuv/rgb"){
|
||||
VisionIpcServer server("camerad");
|
||||
server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_BACK, 1, true, 100, 100);
|
||||
server.create_buffers(VISION_STREAM_RGB_ROAD, 1, true, 100, 100);
|
||||
server.start_listener();
|
||||
|
||||
VisionIpcClient client_yuv = VisionIpcClient("camerad", VISION_STREAM_ROAD, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_BACK, false);
|
||||
VisionIpcClient client_rgb = VisionIpcClient("camerad", VISION_STREAM_RGB_ROAD, false);
|
||||
client_yuv.connect();
|
||||
client_rgb.connect();
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,19 @@
|
|||
import numpy as np
|
||||
|
||||
class Conversions:
|
||||
# Speed
|
||||
MPH_TO_KPH = 1.609344
|
||||
KPH_TO_MPH = 1. / MPH_TO_KPH
|
||||
MS_TO_KPH = 3.6
|
||||
KPH_TO_MS = 1. / MS_TO_KPH
|
||||
MS_TO_MPH = MS_TO_KPH * KPH_TO_MPH
|
||||
MPH_TO_MS = MPH_TO_KPH * KPH_TO_MS
|
||||
MS_TO_KNOTS = 1.9438
|
||||
KNOTS_TO_MS = 1. / MS_TO_KNOTS
|
||||
|
||||
# Angle
|
||||
DEG_TO_RAD = np.pi / 180.
|
||||
RAD_TO_DEG = 1. / DEG_TO_RAD
|
||||
|
||||
# Mass
|
||||
LB_TO_KG = 0.453592
|
||||
|
|
@ -36,8 +36,8 @@ class TestSimpleKalman(unittest.TestCase):
|
|||
self.assertEqual(self.kf.x, [[1.0], [1.0]])
|
||||
|
||||
def update_returns_state(self):
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
x = self.kf.update(100)
|
||||
self.assertEqual(x, self.kf.x)
|
||||
|
||||
def test_old_equal_new(self):
|
||||
for _ in range(1000):
|
||||
|
|
|
|||
|
|
@ -172,33 +172,33 @@ class SwagLogger(logging.Logger):
|
|||
#On some versions of IronPython, currentframe() returns None if
|
||||
#IronPython isn't run with -X:Frames.
|
||||
if f is not None:
|
||||
f = f.f_back
|
||||
f = f.f_back
|
||||
orig_f = f
|
||||
while f and stacklevel > 1:
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
f = f.f_back
|
||||
stacklevel -= 1
|
||||
if not f:
|
||||
f = orig_f
|
||||
f = orig_f
|
||||
rv = "(unknown file)", 0, "(unknown function)", None
|
||||
while hasattr(f, "f_code"):
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
co = f.f_code
|
||||
filename = os.path.normcase(co.co_filename)
|
||||
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
# TODO: is this pylint exception correct?
|
||||
if filename == _srcfile: # pylint: disable=comparison-with-callable
|
||||
f = f.f_back
|
||||
continue
|
||||
sinfo = None
|
||||
if stack_info:
|
||||
sio = io.StringIO()
|
||||
sio.write('Stack (most recent call last):\n')
|
||||
traceback.print_stack(f, file=sio)
|
||||
sinfo = sio.getvalue()
|
||||
if sinfo[-1] == '\n':
|
||||
sinfo = sinfo[:-1]
|
||||
sio.close()
|
||||
rv = (co.co_filename, f.f_lineno, co.co_name, sinfo)
|
||||
break
|
||||
return rv
|
||||
|
||||
if __name__ == "__main__":
|
||||
|
|
|
|||
393
docs/CARS.md
393
docs/CARS.md
|
|
@ -1,185 +1,222 @@
|
|||
# Supported Cars
|
||||
|
||||
## comma.ai supported cars
|
||||
A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| ------------------------------| ------------------| -----------------| -------------------| ------------------|
|
||||
| Acura | ILX 2016-19 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 25mph |
|
||||
| Acura | RDX 2016-18 | AcuraWatch Plus | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Acura | RDX 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Accord Hybrid 2018-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Civic Hatchback 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Coupe 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | Civic Sedan 2016-18 | Honda Sensing | openpilot | 0mph | 12mph |
|
||||
| Honda | Civic Sedan 2019-20 | All | Stock | 0mph | 2mph<sup>2</sup> |
|
||||
| Honda | CR-V 2015-16 | Touring | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | CR-V 2017-21 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | CR-V Hybrid 2017-2019 | Honda Sensing | Stock | 0mph | 12mph |
|
||||
| Honda | e 2020 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Fit 2018-19 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Freed 2020 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | HR-V 2019-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Insight 2019-21 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Inspire 2018 | All | Stock | 0mph | 3mph |
|
||||
| Honda | Odyssey 2018-20 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 0mph |
|
||||
| Honda | Passport 2019-21 | All | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Pilot 2016-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Honda | Ridgeline 2017-21 | Honda Sensing | openpilot | 25mph<sup>1</sup> | 12mph |
|
||||
| Hyundai | Palisade 2020-21 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2020-22 | All | Stock | 0mph | 0mph |
|
||||
| Lexus | CT Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2017-18 | LSS | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | ES Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | IS 2017-2019 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | NX 2018-2019 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | NX 2020 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | NX Hybrid 2018-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RC 2020 | All | Stock | 22mph | 0mph |
|
||||
| Lexus | RX 2016-18 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2016-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Lexus | RX Hybrid 2020-21 | All | openpilot | 0mph | 0mph |
|
||||
| Lexus | UX Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Alphard 2019-20 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon 2016-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Avalon 2022 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Avalon Hybrid 2019-21 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Camry 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry 2021-22 | All | openpilot | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2018-20 | All | Stock | 0mph<sup>4</sup> | 0mph |
|
||||
| Toyota | Camry Hybrid 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | C-HR 2017-21 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | C-HR Hybrid 2017-19 | All | Stock | 0mph | 0mph |
|
||||
| Toyota | Corolla 2017-19 | All | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Corolla 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hatchback 2019-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Corolla Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2017-19 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Highlander Hybrid 2020-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Mirai 2021 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius 2016-20 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Prius v 2017 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Prius Prime 2017-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Prius Prime 2021-22 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 2016-18 | TSS-P | Stock<sup>3</sup>| 20mph<sup>1</sup> | 0mph |
|
||||
| Toyota | Rav4 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2016-18 | TSS-P | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
| Toyota | Rav4 Hybrid 2019-21 | All | openpilot | 0mph | 0mph |
|
||||
| Toyota | Sienna 2018-20 | All | Stock<sup>3</sup>| 0mph | 0mph |
|
||||
Cars are organized into three tiers:
|
||||
|
||||
<sup>1</sup>[Comma Pedal](https://github.com/commaai/openpilot/wiki/comma-pedal) is used to provide stop-and-go capability to some of the openpilot-supported cars that don't currently support stop-and-go. ***NOTE: The Comma Pedal is not officially supported by [comma](https://comma.ai).*** <br />
|
||||
- Gold - The best openpilot experience. Great highway driving and beyond.
|
||||
- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
|
||||
- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
|
||||
|
||||
How We Rate The Cars
|
||||
---
|
||||
|
||||
### openpilot Adaptive Cruise Control (ACC)
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
|
||||
|
||||
### Stop and Go
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
|
||||
|
||||
### Steer to 0
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
|
||||
|
||||
### Steering Torque
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
|
||||
|
||||
### Actively Maintained
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
|
||||
- <a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
|
||||
|
||||
**All supported cars can move between the tiers as support changes.**
|
||||
|
||||
## Gold Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Genesis|G70 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Palisade 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Electric 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Telluride 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX 2020|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX Hybrid 2020-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|UX Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Alphard 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Alphard Hybrid 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry Hybrid 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla Hatchback 2019-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander Hybrid 2020-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Mirai 2021|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius Prime 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 Hybrid 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
## Silver Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Audi|A3 2014-19|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|Q2 2018|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|Q3 2020-21|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Audi|S3 2015-17|ACC + Lane Assist|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G70 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G80 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra Hybrid 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Plug-In Hybrid 2020-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona Electric 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe 2021-22|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Santa Fe Plug-In Hybrid 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Ceed 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Forte 2018-21|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|K5 2021-22|SCC + LFA|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Hybrid 2021-22|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Optima 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Seltos 2021|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Sorento 2018-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Stinger 2018|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|CT Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|ES Hybrid 2017-18|LSS|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|NX Hybrid 2018-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX 2016-18|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RX Hybrid 2016-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Mazda|CX-5 2022|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|SEAT|Ateca 2018|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|SEAT|Leon 2014-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|C-HR 2017-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|C-HR Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Camry Hybrid 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Highlander Hybrid 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Sienna 2018-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf 2015-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf GTI 2018-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Passat 2016-18[<sup>7</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Polo 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|T-Cross 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|T-Roc 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Taos 2022[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Tiguan 2020-22[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Touran 2017|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|e-Golf 2014, 2019-20|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Kamiq 2021[<sup>6</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Karoq 2019|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Octavia RS 2016|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Scala 2020|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Škoda|Superb 2015-18|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
## Bronze Cars
|
||||
|
||||
|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
|
||||
|---|---|---|:---:|:---:|:---:|:---:|:---:|
|
||||
|Acura|ILX 2016-19|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Acura|RDX 2016-18|AcuraWatch Plus|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Acura|RDX 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Cadillac|Escalade ESV 2016[<sup>1</sup>](#Footnotes)|ACC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chevrolet|Volt 2017-18[<sup>1</sup>](#Footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Chrysler|Pacifica Hybrid 2019-21|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|GMC|Acadia 2018[<sup>1</sup>](#Footnotes)|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Genesis|G90 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
|
||||
|Honda|Accord 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Accord Hybrid 2018-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V 2015-16|Touring|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic 2016-18|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic 2019-20|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Fit 2018-19|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Freed 2020|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|HR-V 2019-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Insight 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Inspire 2018|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Odyssey 2018-20|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Passport 2019-21|All|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Pilot 2016-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|Ridgeline 2017-21|Honda Sensing|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Honda|e 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Niro Plug-In Hybrid 2019|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Kia|Optima 2017|SCC + LKAS|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|IS 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Lexus|RC 2020|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Mazda|CX-9 2021|All|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Altima 2019-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Leaf 2018-22|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|Rogue 2018-20|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Nissan|X-Trail 2017|ProPILOT|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Ascent 2019|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Crosstrek 2018-20|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Forester 2019-21|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Subaru|Impreza 2017-19|EyeSight|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Avalon 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Corolla 2017-19|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius 2016-20|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius Prime 2017-20|All|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|Prius v 2017|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>5</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Toyota|RAV4 2016-18|TSS-P|<a href="#"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#Footnotes)|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|California 2021[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|Volkswagen|Caravelle 2020[<sup>8</sup>](#Footnotes)|Driver Assistance|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="#"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
|
||||
|
||||
|
||||
## Footnotes
|
||||
<sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot ACC will replace stock ACC. ***NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>3</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
|
||||
<sup>4</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
|
||||
<sup>5</sup>An inaccurate steering wheel angle sensor makes precise control difficult. <br />
|
||||
<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
|
||||
|
||||
## Community Maintained Cars and Features
|
||||
|
||||
| Make | Model (US Market Reference) | Supported Package | ACC | No ACC accel below | No ALC below |
|
||||
| ----------| --------------------------------| ------------------| -----------------| -------------------| -------------|
|
||||
| Audi | A3 2014-19 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | A3 Sportback e-tron 2017-18 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q2 2018 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | Q3 2020-21 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Audi | S3 2015 | ACC + Lane Assist | Stock | 0mph | 0mph |
|
||||
| Cadillac | Escalade ESV 2016<sup>1</sup> | ACC + LKAS | openpilot | 0mph | 7mph |
|
||||
| Chevrolet | Volt 2017-18<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Chrysler | Pacifica 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica 2020 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Chrysler | Pacifica Hybrid 2017-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Chrysler | Pacifica Hybrid 2019-21 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Genesis | G70 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G70 2020 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G80 2018 | All | Stock | 0mph | 0mph |
|
||||
| Genesis | G90 2018 | All | Stock | 0mph | 0mph |
|
||||
| GMC | Acadia 2018<sup>1</sup> | Adaptive Cruise | openpilot | 0mph | 7mph |
|
||||
| Hyundai | Elantra 2017-19 | SCC + LKAS | Stock | 19mph | 34mph |
|
||||
| Hyundai | Elantra 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Elantra Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Genesis 2015-16 | SCC + LKAS | Stock | 19mph | 37mph |
|
||||
| Hyundai | Ioniq Electric 2019 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Electric 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq Hybrid 2017-19 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Hyundai | Ioniq Hybrid 2020-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Hyundai | Ioniq PHEV 2020-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona EV 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Kona Hybrid 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2019-20 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Santa Fe Plug-in Hybrid 2022 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata 2018-2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Hyundai | Sonata Hybrid 2021-22 | All | Stock | 0mph | 0mph |
|
||||
| Hyundai | Veloster 2019-20 | SCC + LKAS | Stock | 5mph | 0mph |
|
||||
| Jeep | Grand Cherokee 2016-18 | Adaptive Cruise | Stock | 0mph | 9mph |
|
||||
| Jeep | Grand Cherokee 2019-20 | Adaptive Cruise | Stock | 0mph | 39mph |
|
||||
| Kia | Ceed 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Forte 2018-21 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | K5 2021-22 | SCC + LFA | Stock | 0mph | 0mph |
|
||||
| Kia | Niro EV 2019-22 | All | Stock | 0mph | 0mph |
|
||||
| Kia | Niro Hybrid 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Niro PHEV 2019 | SCC + LKAS | Stock | 10mph | 32mph |
|
||||
| Kia | Optima 2017 | SCC + LKAS | Stock | 0mph | 32mph |
|
||||
| Kia | Optima 2019 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Seltos 2021 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Sorento 2018-19 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Stinger 2018 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Kia | Telluride 2020 | SCC + LKAS | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-5 2022 | All | Stock | 0mph | 0mph |
|
||||
| Mazda | CX-9 2021 | All | Stock | 0mph | 28mph |
|
||||
| Nissan | Altima 2019-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Leaf 2018-22 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | Rogue 2018-20 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| Nissan | X-Trail 2017 | ProPILOT | Stock | 0mph | 0mph |
|
||||
| SEAT | Ateca 2018 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| SEAT | Leon 2014-2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Subaru | Ascent 2019 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Crosstrek 2018-20 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Forester 2019-21 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Subaru | Impreza 2017-19 | EyeSight | Stock | 0mph | 0mph |
|
||||
| Škoda | Kamiq 2021<sup>2</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Karoq 2019 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Kodiaq 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia 2015, 2018-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Octavia RS 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Scala 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Škoda | Superb 2015-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Arteon 2018, 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Atlas 2018-19, 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Caravelle 2020<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
|
||||
| Volkswagen| California 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 32mph |
|
||||
| Volkswagen| e-Golf 2014, 2019-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf 2015-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf Alltrack 2017-18 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTE 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf GTI 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf R 2016-19 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportsVan 2016 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Golf SportWagen 2015 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta 2018-20 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Jetta GLI 2021 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Passat 2016-18<sup>3</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Polo 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Cross 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| T-Roc 2021<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Taos 2022<sup>4</sup> | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Tiguan 2020 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
| Volkswagen| Touran 2017 | Driver Assistance | Stock | 0mph | 0mph |
|
||||
|
||||
<sup>1</sup>Requires an [OBD-II car harness](https://comma.ai/shop/products/comma-car-harness) and [community built ASCM harness](https://github.com/commaai/openpilot/wiki/GM#hardware). ***NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).*** <br />
|
||||
<sup>2</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
|
||||
<sup>3</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
|
||||
<sup>4</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering,
|
||||
remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design,
|
||||
in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.<br />
|
||||
Community Maintained Cars and Features are not verified by comma to meet our [safety model](SAFETY.md). Be extra cautious using them.
|
||||
|
||||
To promote a car from community maintained, it must meet a few requirements. We must own one from the brand, we must sell the harness for it, has full ISO26262 in both panda and openpilot, there must be a path forward for longitudinal control, it must have AEB still enabled, and it must support fingerprinting 2.0
|
||||
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
## Community Maintained Cars
|
||||
Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
|
||||
|
|
@ -104,14 +104,7 @@ function tici_init {
|
|||
sleep 3
|
||||
fi
|
||||
|
||||
# setup governors
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu0/governor'
|
||||
sudo su -c 'echo "performance" > /sys/class/devfreq/soc:qcom,memlat-cpu4/governor'
|
||||
|
||||
# TODO: move this to agnos
|
||||
# network manager config
|
||||
nmcli connection modify --temporary lte gsm.auto-config yes
|
||||
nmcli connection modify --temporary lte gsm.home-only yes
|
||||
sudo rm -f /data/etc/NetworkManager/system-connections/*.nmmeta
|
||||
|
||||
# set success flag for current boot slot
|
||||
|
|
|
|||
Binary file not shown.
Binary file not shown.
|
|
@ -11,6 +11,7 @@ for x in sorted(os.listdir('../')):
|
|||
in_fn = [os.path.join('../', x), 'dbc_template.cc']
|
||||
out_fn = os.path.join('dbc_out', x.replace(".dbc", ".cc"))
|
||||
dbc = env.Command(out_fn, in_fn, compile_dbc)
|
||||
env.Depends(dbc, ["dbc.py", "process_dbc.py"])
|
||||
dbcs.append(dbc)
|
||||
|
||||
libdbc = env.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]+dbcs, LIBS=["capnp", "kj"])
|
||||
|
|
@ -22,4 +23,4 @@ parser = lenv.Program('parser_pyx.so', 'parser_pyx.pyx')
|
|||
packer = lenv.Program('packer_pyx.so', 'packer_pyx.pyx')
|
||||
|
||||
lenv.Depends(parser, libdbc)
|
||||
lenv.Depends(packer, libdbc)
|
||||
lenv.Depends(packer, libdbc)
|
||||
|
|
@ -1,50 +1,44 @@
|
|||
#include "common.h"
|
||||
|
||||
unsigned int honda_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
d >>= 4; // remove checksum
|
||||
|
||||
unsigned int honda_checksum(uint32_t address, const std::vector<uint8_t> &d) {
|
||||
int s = 0;
|
||||
bool extended = address > 0x7FF; // extended can
|
||||
while (address) { s += (address & 0xF); address >>= 4; }
|
||||
while (d) { s += (d & 0xF); d >>= 4; }
|
||||
for (int i = 0; i < d.size(); i++) {
|
||||
uint8_t x = d[i];
|
||||
if (i == d.size()-1) x >>= 4; // remove checksum
|
||||
s += (x & 0xF) + (x >> 4);
|
||||
}
|
||||
s = 8-s;
|
||||
if (extended) s += 3;
|
||||
s &= 0xF;
|
||||
if (address > 0x7FF) s += 3; // extended can
|
||||
|
||||
return s;
|
||||
return s & 0xF;
|
||||
}
|
||||
|
||||
unsigned int toyota_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
d >>= 8; // remove checksum
|
||||
|
||||
unsigned int s = l;
|
||||
unsigned int toyota_checksum(uint32_t address, const std::vector<uint8_t> &d) {
|
||||
unsigned int s = d.size();
|
||||
while (address) { s += address & 0xFF; address >>= 8; }
|
||||
while (d) { s += d & 0xFF; d >>= 8; }
|
||||
for (int i = 0; i < d.size() - 1; i++) { s += d[i]; }
|
||||
|
||||
return s & 0xFF;
|
||||
}
|
||||
|
||||
unsigned int subaru_checksum(unsigned int address, uint64_t d, int l) {
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
|
||||
unsigned int subaru_checksum(uint32_t address, const std::vector<uint8_t> &d) {
|
||||
unsigned int s = 0;
|
||||
while (address) { s += address & 0xFF; address >>= 8; }
|
||||
l -= 1; // checksum is first byte
|
||||
while (l) { s += d & 0xFF; d >>= 8; l -= 1; }
|
||||
|
||||
// skip checksum in first byte
|
||||
for (int i = 1; i < d.size(); i++) { s += d[i]; };
|
||||
|
||||
return s & 0xFF;
|
||||
}
|
||||
|
||||
unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l) {
|
||||
/* This function does not want the checksum byte in the input data.
|
||||
jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
|
||||
unsigned int chrysler_checksum(uint32_t address, const std::vector<uint8_t> &d) {
|
||||
/* jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
|
||||
uint8_t checksum = 0xFF;
|
||||
for (int j = 0; j < (l - 1); j++) {
|
||||
for (int j = 0; j < (d.size() - 1); j++) {
|
||||
uint8_t shift = 0x80;
|
||||
uint8_t curr = (d >> 8*j) & 0xFF;
|
||||
for (int i=0; i<8; i++) {
|
||||
uint8_t curr = d[j];
|
||||
for (int i = 0; i < 8; i++) {
|
||||
uint8_t bit_sum = curr & shift;
|
||||
uint8_t temp_chk = checksum & 0x80U;
|
||||
if (bit_sum != 0U) {
|
||||
|
|
@ -94,7 +88,7 @@ void init_crc_lookup_tables() {
|
|||
gen_crc_lookup_table(0x2F, crc8_lut_8h2f); // CRC-8 8H2F/AUTOSAR for Volkswagen
|
||||
}
|
||||
|
||||
unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
||||
unsigned int volkswagen_crc(uint32_t address, const std::vector<uint8_t> &d) {
|
||||
// Volkswagen uses standard CRC8 8H2F/AUTOSAR, but they compute it with
|
||||
// a magic variable padding byte tacked onto the end of the payload.
|
||||
// https://www.autosar.org/fileadmin/user_upload/standards/classic/4-3/AUTOSAR_SWS_CRCLibrary.pdf
|
||||
|
|
@ -102,14 +96,14 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
|||
uint8_t crc = 0xFF; // Standard init value for CRC8 8H2F/AUTOSAR
|
||||
|
||||
// CRC the payload first, skipping over the first byte where the CRC lives.
|
||||
for (int i = 1; i < l; i++) {
|
||||
crc ^= (d >> (i*8)) & 0xFF;
|
||||
for (int i = 1; i < d.size(); i++) {
|
||||
crc ^= d[i];
|
||||
crc = crc8_lut_8h2f[crc];
|
||||
}
|
||||
|
||||
// Look up and apply the magic final CRC padding byte, which permutes by CAN
|
||||
// address, and additionally (for SOME addresses) by the message counter.
|
||||
uint8_t counter = ((d >> 8) & 0xFF) & 0x0F;
|
||||
uint8_t counter = d[1] & 0x0F;
|
||||
switch(address) {
|
||||
case 0x86: // LWI_01 Steering Angle
|
||||
crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
|
||||
|
|
@ -175,47 +169,20 @@ unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l) {
|
|||
return crc ^ 0xFF; // Return after standard final XOR for CRC8 8H2F/AUTOSAR
|
||||
}
|
||||
|
||||
unsigned int pedal_checksum(uint64_t d, int l) {
|
||||
unsigned int pedal_checksum(const std::vector<uint8_t> &d) {
|
||||
uint8_t crc = 0xFF;
|
||||
uint8_t poly = 0xD5; // standard crc8
|
||||
|
||||
d >>= ((8-l)*8); // remove padding
|
||||
d >>= 8; // remove checksum
|
||||
|
||||
int i, j;
|
||||
for (i = 0; i < l - 1; i++) {
|
||||
crc ^= (d >> (i*8)) & 0xFF;
|
||||
for (j = 0; j < 8; j++) {
|
||||
// skip checksum byte
|
||||
for (int i = d.size()-2; i >= 0; i--) {
|
||||
crc ^= d[i];
|
||||
for (int j = 0; j < 8; j++) {
|
||||
if ((crc & 0x80) != 0) {
|
||||
crc = (uint8_t)((crc << 1) ^ poly);
|
||||
}
|
||||
else {
|
||||
} else {
|
||||
crc <<= 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
return crc;
|
||||
}
|
||||
|
||||
|
||||
uint64_t read_u64_be(const uint8_t* v) {
|
||||
return (((uint64_t)v[0] << 56)
|
||||
| ((uint64_t)v[1] << 48)
|
||||
| ((uint64_t)v[2] << 40)
|
||||
| ((uint64_t)v[3] << 32)
|
||||
| ((uint64_t)v[4] << 24)
|
||||
| ((uint64_t)v[5] << 16)
|
||||
| ((uint64_t)v[6] << 8)
|
||||
| (uint64_t)v[7]);
|
||||
}
|
||||
|
||||
uint64_t read_u64_le(const uint8_t* v) {
|
||||
return ((uint64_t)v[0]
|
||||
| ((uint64_t)v[1] << 8)
|
||||
| ((uint64_t)v[2] << 16)
|
||||
| ((uint64_t)v[3] << 24)
|
||||
| ((uint64_t)v[4] << 32)
|
||||
| ((uint64_t)v[5] << 40)
|
||||
| ((uint64_t)v[6] << 48)
|
||||
| ((uint64_t)v[7] << 56));
|
||||
}
|
||||
|
|
|
|||
|
|
@ -12,18 +12,21 @@
|
|||
#include "cereal/gen/cpp/log.capnp.h"
|
||||
#endif
|
||||
|
||||
#define INFO printf
|
||||
#define WARN printf
|
||||
#define DEBUG(...)
|
||||
//#define DEBUG printf
|
||||
|
||||
#define MAX_BAD_COUNTER 5
|
||||
|
||||
// Helper functions
|
||||
unsigned int honda_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int toyota_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int subaru_checksum(unsigned int address, uint64_t d, int l);
|
||||
unsigned int chrysler_checksum(unsigned int address, uint64_t d, int l);
|
||||
// Car specific functions
|
||||
unsigned int honda_checksum(uint32_t address, const std::vector<uint8_t> &d);
|
||||
unsigned int toyota_checksum(uint32_t address, const std::vector<uint8_t> &d);
|
||||
unsigned int subaru_checksum(uint32_t address, const std::vector<uint8_t> &d);
|
||||
unsigned int chrysler_checksum(uint32_t address, const std::vector<uint8_t> &d);
|
||||
void init_crc_lookup_tables();
|
||||
unsigned int volkswagen_crc(unsigned int address, uint64_t d, int l);
|
||||
unsigned int pedal_checksum(uint64_t d, int l);
|
||||
uint64_t read_u64_be(const uint8_t* v);
|
||||
uint64_t read_u64_le(const uint8_t* v);
|
||||
unsigned int volkswagen_crc(uint32_t address, const std::vector<uint8_t> &d);
|
||||
unsigned int pedal_checksum(const std::vector<uint8_t> &d);
|
||||
|
||||
class MessageState {
|
||||
public:
|
||||
|
|
@ -43,7 +46,7 @@ public:
|
|||
bool ignore_checksum = false;
|
||||
bool ignore_counter = false;
|
||||
|
||||
bool parse(uint64_t sec, uint8_t * dat);
|
||||
bool parse(uint64_t sec, const std::vector<uint8_t> &dat);
|
||||
bool update_counter_generic(int64_t v, int cnt_size);
|
||||
};
|
||||
|
||||
|
|
@ -80,6 +83,6 @@ private:
|
|||
|
||||
public:
|
||||
CANPacker(const std::string& dbc_name);
|
||||
uint64_t pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
|
||||
std::vector<uint8_t> pack(uint32_t address, const std::vector<SignalPackValue> &values, int counter);
|
||||
Msg* lookup_message(uint32_t address);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -1,12 +1,12 @@
|
|||
# distutils: language = c++
|
||||
#cython: language_level=3
|
||||
# cython: language_level=3
|
||||
|
||||
from libc.stdint cimport uint32_t, uint64_t, uint16_t
|
||||
from libcpp.vector cimport vector
|
||||
from libc.stdint cimport uint8_t, uint16_t, uint32_t, uint64_t
|
||||
from libcpp cimport bool
|
||||
from libcpp.map cimport map
|
||||
from libcpp.string cimport string
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.unordered_set cimport unordered_set
|
||||
from libcpp cimport bool
|
||||
|
||||
|
||||
cdef extern from "common_dbc.h":
|
||||
|
|
@ -24,7 +24,7 @@ cdef extern from "common_dbc.h":
|
|||
|
||||
cdef struct Signal:
|
||||
const char* name
|
||||
int b1, b2, bo
|
||||
int start_bit, msb, lsb, size
|
||||
bool is_signed
|
||||
double factor, offset
|
||||
SignalType type
|
||||
|
|
@ -80,4 +80,4 @@ cdef extern from "common.h":
|
|||
|
||||
cdef cppclass CANPacker:
|
||||
CANPacker(string)
|
||||
uint64_t pack(uint32_t, vector[SignalPackValue], int counter)
|
||||
vector[uint8_t] pack(uint32_t, vector[SignalPackValue], int counter)
|
||||
|
|
|
|||
|
|
@ -44,7 +44,7 @@ enum SignalType {
|
|||
|
||||
struct Signal {
|
||||
const char* name;
|
||||
int b1, b2, bo;
|
||||
int start_bit, msb, lsb, size;
|
||||
bool is_signed;
|
||||
double factor, offset;
|
||||
bool is_little_endian;
|
||||
|
|
|
|||
|
|
@ -1,7 +1,6 @@
|
|||
#!/usr/bin/env python3
|
||||
import re
|
||||
import os
|
||||
import struct
|
||||
import sys
|
||||
import numbers
|
||||
from collections import namedtuple, defaultdict
|
||||
|
|
@ -14,9 +13,8 @@ def int_or_float(s):
|
|||
return float(s)
|
||||
|
||||
|
||||
DBCSignal = namedtuple(
|
||||
"DBCSignal", ["name", "start_bit", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
DBCSignal = namedtuple("DBCSignal", ["name", "start_bit", "msb", "lsb", "size", "is_little_endian", "is_signed",
|
||||
"factor", "offset", "tmin", "tmax", "units"])
|
||||
|
||||
|
||||
class dbc():
|
||||
|
|
@ -42,8 +40,8 @@ class dbc():
|
|||
# A dictionary which maps message ids to a list of tuples (signal name, definition value pairs)
|
||||
self.def_vals = defaultdict(list)
|
||||
|
||||
# lookup to bit reverse each byte
|
||||
self.bits_index = [(i & ~0b111) + ((-i - 1) & 0b111) for i in range(64)]
|
||||
# used to find big endian LSB from MSB and size
|
||||
be_bits = [(j + i*8) for i in range(64) for j in range(7, -1, -1)]
|
||||
|
||||
for l in self.txt:
|
||||
l = l.strip()
|
||||
|
|
@ -85,10 +83,19 @@ class dbc():
|
|||
tmax = int_or_float(dat.group(go + 9))
|
||||
units = dat.group(go + 10)
|
||||
|
||||
if is_little_endian:
|
||||
lsb = start_bit
|
||||
msb = start_bit + signal_size - 1
|
||||
else:
|
||||
lsb = be_bits[be_bits.index(start_bit) + signal_size - 1]
|
||||
msb = start_bit
|
||||
|
||||
self.msgs[ids][1].append(
|
||||
DBCSignal(sgname, start_bit, signal_size, is_little_endian,
|
||||
DBCSignal(sgname, start_bit, msb, lsb, signal_size, is_little_endian,
|
||||
is_signed, factor, offset, tmin, tmax, units))
|
||||
|
||||
assert lsb < (64*8) and msb < (64*8), f"Signal out of bounds: {msb=} {lsb=}"
|
||||
|
||||
if l.startswith("VAL_ "):
|
||||
# new signal value/definition
|
||||
dat = val_regexp.match(l)
|
||||
|
|
@ -122,136 +129,6 @@ class dbc():
|
|||
msg_id = self.msg_name_to_address[msg_id]
|
||||
return msg_id
|
||||
|
||||
def reverse_bytes(self, x):
|
||||
return ((x & 0xff00000000000000) >> 56) | \
|
||||
((x & 0x00ff000000000000) >> 40) | \
|
||||
((x & 0x0000ff0000000000) >> 24) | \
|
||||
((x & 0x000000ff00000000) >> 8) | \
|
||||
((x & 0x00000000ff000000) << 8) | \
|
||||
((x & 0x0000000000ff0000) << 24) | \
|
||||
((x & 0x000000000000ff00) << 40) | \
|
||||
((x & 0x00000000000000ff) << 56)
|
||||
|
||||
def encode(self, msg_id, dd):
|
||||
"""Encode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
msg_id: The message ID.
|
||||
dd: A dictionary mapping signal name to signal data.
|
||||
"""
|
||||
msg_id = self.lookup_msg_id(msg_id)
|
||||
|
||||
msg_def = self.msgs[msg_id]
|
||||
size = msg_def[0][1]
|
||||
|
||||
result = 0
|
||||
for s in msg_def[1]:
|
||||
ival = dd.get(s.name)
|
||||
if ival is not None:
|
||||
|
||||
ival = (ival - s.offset) / s.factor
|
||||
ival = int(round(ival))
|
||||
|
||||
if s.is_signed and ival < 0:
|
||||
ival = (1 << s.size) + ival
|
||||
|
||||
if s.is_little_endian:
|
||||
shift = s.start_bit
|
||||
else:
|
||||
b1 = (s.start_bit // 8) * 8 + (-s.start_bit - 1) % 8
|
||||
shift = 64 - (b1 + s.size)
|
||||
|
||||
mask = ((1 << s.size) - 1) << shift
|
||||
dat = (ival & ((1 << s.size) - 1)) << shift
|
||||
|
||||
if s.is_little_endian:
|
||||
mask = self.reverse_bytes(mask)
|
||||
dat = self.reverse_bytes(dat)
|
||||
|
||||
result &= ~mask
|
||||
result |= dat
|
||||
|
||||
result = struct.pack('>Q', result)
|
||||
return result[:size]
|
||||
|
||||
def decode(self, x, arr=None, debug=False):
|
||||
"""Decode a CAN message using the dbc.
|
||||
|
||||
Inputs:
|
||||
x: A collection with elements (address, time, data), where address is
|
||||
the CAN address, time is the bus time, and data is the CAN data as a
|
||||
hex string.
|
||||
arr: Optional list of signals which should be decoded and returned.
|
||||
debug: True to print debugging statements.
|
||||
|
||||
Returns:
|
||||
A tuple (name, data), where name is the name of the CAN message and data
|
||||
is the decoded result. If arr is None, data is a dict of properties.
|
||||
Otherwise data is a list of the same length as arr.
|
||||
|
||||
Returns (None, None) if the message could not be decoded.
|
||||
"""
|
||||
|
||||
if arr is None:
|
||||
out = {}
|
||||
else:
|
||||
out = [None] * len(arr)
|
||||
|
||||
msg = self.msgs.get(x[0])
|
||||
if msg is None:
|
||||
if x[0] not in self._warned_addresses:
|
||||
# print("WARNING: Unknown message address {}".format(x[0]))
|
||||
self._warned_addresses.add(x[0])
|
||||
return None, None
|
||||
|
||||
name = msg[0][0]
|
||||
if debug:
|
||||
print(name)
|
||||
|
||||
st = x[2].ljust(8, b'\x00')
|
||||
le, be = None, None
|
||||
|
||||
for s in msg[1]:
|
||||
if arr is not None and s[0] not in arr:
|
||||
continue
|
||||
|
||||
start_bit = s[1]
|
||||
signal_size = s[2]
|
||||
little_endian = s[3]
|
||||
signed = s[4]
|
||||
factor = s[5]
|
||||
offset = s[6]
|
||||
|
||||
if little_endian:
|
||||
if le is None:
|
||||
le = struct.unpack("<Q", st)[0]
|
||||
tmp = le
|
||||
shift_amount = start_bit
|
||||
else:
|
||||
if be is None:
|
||||
be = struct.unpack(">Q", st)[0]
|
||||
tmp = be
|
||||
b1 = (start_bit // 8) * 8 + (-start_bit - 1) % 8
|
||||
shift_amount = 64 - (b1 + signal_size)
|
||||
|
||||
if shift_amount < 0:
|
||||
continue
|
||||
|
||||
tmp = (tmp >> shift_amount) & ((1 << signal_size) - 1)
|
||||
if signed and (tmp >> (signal_size - 1)):
|
||||
tmp -= (1 << signal_size)
|
||||
|
||||
tmp = tmp * factor + offset
|
||||
|
||||
# if debug:
|
||||
# print("%40s %2d %2d %7.2f %s" % (s[0], s[1], s[2], tmp, s[-1]))
|
||||
|
||||
if arr is None:
|
||||
out[s[0]] = tmp
|
||||
else:
|
||||
out[arr.index(s[0])] = tmp
|
||||
return name, out
|
||||
|
||||
def get_signals(self, msg):
|
||||
msg = self.lookup_msg_id(msg)
|
||||
return [sgs.name for sgs in self.msgs[msg][1]]
|
||||
|
|
|
|||
|
|
@ -6,15 +6,11 @@ namespace {
|
|||
const Signal sigs_{{address}}[] = {
|
||||
{% for sig in sigs %}
|
||||
{
|
||||
{% if sig.is_little_endian %}
|
||||
{% set b1 = sig.start_bit %}
|
||||
{% else %}
|
||||
{% set b1 = (sig.start_bit//8)*8 + (-sig.start_bit-1) % 8 %}
|
||||
{% endif %}
|
||||
.name = "{{sig.name}}",
|
||||
.b1 = {{b1}},
|
||||
.b2 = {{sig.size}},
|
||||
.bo = {{64 - (b1 + sig.size)}},
|
||||
.start_bit = {{sig.start_bit}},
|
||||
.msb = {{sig.msb}},
|
||||
.lsb = {{sig.lsb}},
|
||||
.size = {{sig.size}},
|
||||
.is_signed = {{"true" if sig.is_signed else "false"}},
|
||||
.factor = {{sig.factor}},
|
||||
.offset = {{sig.offset}},
|
||||
|
|
|
|||
|
|
@ -6,41 +6,35 @@
|
|||
|
||||
#include "common.h"
|
||||
|
||||
#define WARN printf
|
||||
|
||||
// this is the same as read_u64_le, but uses uint64_t as in/out
|
||||
uint64_t ReverseBytes(uint64_t x) {
|
||||
return ((x & 0xff00000000000000ull) >> 56) |
|
||||
((x & 0x00ff000000000000ull) >> 40) |
|
||||
((x & 0x0000ff0000000000ull) >> 24) |
|
||||
((x & 0x000000ff00000000ull) >> 8) |
|
||||
((x & 0x00000000ff000000ull) << 8) |
|
||||
((x & 0x0000000000ff0000ull) << 24) |
|
||||
((x & 0x000000000000ff00ull) << 40) |
|
||||
((x & 0x00000000000000ffull) << 56);
|
||||
}
|
||||
|
||||
static uint64_t set_value(uint64_t ret, const Signal& sig, int64_t ival) {
|
||||
int shift = sig.is_little_endian? sig.b1 : sig.bo;
|
||||
uint64_t mask = ((1ULL << sig.b2)-1) << shift;
|
||||
uint64_t dat = (ival & ((1ULL << sig.b2)-1)) << shift;
|
||||
if (sig.is_little_endian) {
|
||||
dat = ReverseBytes(dat);
|
||||
mask = ReverseBytes(mask);
|
||||
void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {
|
||||
int i = sig.lsb / 8;
|
||||
int bits = sig.size;
|
||||
if (sig.size < 64) {
|
||||
ival &= ((1ULL << sig.size) - 1);
|
||||
}
|
||||
|
||||
while (i >= 0 && i < msg.size() && bits > 0) {
|
||||
int shift = (int)(sig.lsb / 8) == i ? sig.lsb % 8 : 0;
|
||||
int size = std::min(bits, 8 - shift);
|
||||
|
||||
msg[i] &= ~(((1ULL << size) - 1) << shift);
|
||||
msg[i] |= (ival & ((1ULL << size) - 1)) << shift;
|
||||
|
||||
bits -= size;
|
||||
ival >>= size;
|
||||
i = sig.is_little_endian ? i+1 : i-1;
|
||||
}
|
||||
ret &= ~mask;
|
||||
ret |= dat;
|
||||
return ret;
|
||||
}
|
||||
|
||||
CANPacker::CANPacker(const std::string& dbc_name) {
|
||||
dbc = dbc_lookup(dbc_name);
|
||||
assert(dbc);
|
||||
|
||||
for (int i=0; i<dbc->num_msgs; i++) {
|
||||
for (int i = 0; i < dbc->num_msgs; i++) {
|
||||
const Msg* msg = &dbc->msgs[i];
|
||||
message_lookup[msg->address] = *msg;
|
||||
for (int j=0; j<msg->num_sigs; j++) {
|
||||
for (int j = 0; j < msg->num_sigs; j++) {
|
||||
const Signal* sig = &msg->sigs[j];
|
||||
signal_lookup[std::make_pair(msg->address, std::string(sig->name))] = *sig;
|
||||
}
|
||||
|
|
@ -48,26 +42,28 @@ CANPacker::CANPacker(const std::string& dbc_name) {
|
|||
init_crc_lookup_tables();
|
||||
}
|
||||
|
||||
uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
|
||||
uint64_t ret = 0;
|
||||
for (const auto& sigval : signals) {
|
||||
double value = sigval.value;
|
||||
std::vector<uint8_t> CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &signals, int counter) {
|
||||
std::vector<uint8_t> ret(message_lookup[address].size, 0);
|
||||
|
||||
// set all values for all given signal/value pairs
|
||||
for (const auto& sigval : signals) {
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, sigval.name));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
// TODO: do something more here. invalid flag like CANParser?
|
||||
WARN("undefined signal %s - %d\n", sigval.name.c_str(), address);
|
||||
continue;
|
||||
}
|
||||
const auto& sig = sig_it->second;
|
||||
const auto &sig = sig_it->second;
|
||||
|
||||
int64_t ival = (int64_t)(round((value - sig.offset) / sig.factor));
|
||||
int64_t ival = (int64_t)(round((sigval.value - sig.offset) / sig.factor));
|
||||
if (ival < 0) {
|
||||
ival = (1ULL << sig.b2) + ival;
|
||||
ival = (1ULL << sig.size) + ival;
|
||||
}
|
||||
|
||||
ret = set_value(ret, sig, ival);
|
||||
set_value(ret, sig, ival);
|
||||
}
|
||||
|
||||
// set message counter
|
||||
if (counter >= 0){
|
||||
auto sig_it = signal_lookup.find(std::make_pair(address, "COUNTER"));
|
||||
if (sig_it == signal_lookup.end()) {
|
||||
|
|
@ -77,33 +73,31 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
|||
const auto& sig = sig_it->second;
|
||||
|
||||
if ((sig.type != SignalType::HONDA_COUNTER) && (sig.type != SignalType::VOLKSWAGEN_COUNTER)) {
|
||||
WARN("COUNTER signal type not valid\n");
|
||||
//WARN("COUNTER signal type not valid\n");
|
||||
}
|
||||
|
||||
ret = set_value(ret, sig, counter);
|
||||
set_value(ret, sig, counter);
|
||||
}
|
||||
|
||||
// set message checksum
|
||||
auto sig_it_checksum = signal_lookup.find(std::make_pair(address, "CHECKSUM"));
|
||||
if (sig_it_checksum != signal_lookup.end()) {
|
||||
const auto& sig = sig_it_checksum->second;
|
||||
const auto &sig = sig_it_checksum->second;
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
unsigned int chksm = honda_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
unsigned int chksm = honda_checksum(address, ret);
|
||||
set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
unsigned int chksm = toyota_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
unsigned int chksm = toyota_checksum(address, ret);
|
||||
set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
// FIXME: Hackish fix for an endianness issue. The message is in reverse byte order
|
||||
// until later in the pack process. Checksums can be run backwards, CRCs not so much.
|
||||
// The correct fix is unclear but this works for the moment.
|
||||
unsigned int chksm = volkswagen_crc(address, ReverseBytes(ret), message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
unsigned int chksm = volkswagen_crc(address, ret);
|
||||
set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
unsigned int chksm = subaru_checksum(address, ret, message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
unsigned int chksm = subaru_checksum(address, ret);
|
||||
set_value(ret, sig, chksm);
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
unsigned int chksm = chrysler_checksum(address, ReverseBytes(ret), message_lookup[address].size);
|
||||
ret = set_value(ret, sig, chksm);
|
||||
unsigned int chksm = chrysler_checksum(address, ret);
|
||||
set_value(ret, sig, chksm);
|
||||
} else {
|
||||
//WARN("CHECKSUM signal type not valid\n");
|
||||
}
|
||||
|
|
@ -112,6 +106,7 @@ uint64_t CANPacker::pack(uint32_t address, const std::vector<SignalPackValue> &s
|
|||
return ret;
|
||||
}
|
||||
|
||||
// This function has a definition in common.h and is used in PlotJuggler
|
||||
Msg* CANPacker::lookup_message(uint32_t address) {
|
||||
return &message_lookup[address];
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
# distutils: language = c++
|
||||
# cython: c_string_encoding=ascii, language_level=3
|
||||
|
||||
from libc.stdint cimport uint32_t, uint64_t
|
||||
from libc.stdint cimport uint8_t, uint32_t, uint64_t
|
||||
from libcpp.vector cimport vector
|
||||
from libcpp.map cimport map
|
||||
from libcpp.string cimport string
|
||||
|
|
@ -31,7 +31,7 @@ cdef class CANPacker:
|
|||
self.name_to_address_and_size[string(msg.name)] = (msg.address, msg.size)
|
||||
self.address_to_size[msg.address] = msg.size
|
||||
|
||||
cdef uint64_t pack(self, addr, values, counter):
|
||||
cdef vector[uint8_t] pack(self, addr, values, counter):
|
||||
cdef vector[SignalPackValue] values_thing
|
||||
values_thing.reserve(len(values))
|
||||
cdef SignalPackValue spv
|
||||
|
|
@ -43,16 +43,6 @@ cdef class CANPacker:
|
|||
|
||||
return self.packer.pack(addr, values_thing, counter)
|
||||
|
||||
cdef inline uint64_t ReverseBytes(self, uint64_t x):
|
||||
return (((x & 0xff00000000000000ull) >> 56) |
|
||||
((x & 0x00ff000000000000ull) >> 40) |
|
||||
((x & 0x0000ff0000000000ull) >> 24) |
|
||||
((x & 0x000000ff00000000ull) >> 8) |
|
||||
((x & 0x00000000ff000000ull) << 8) |
|
||||
((x & 0x0000000000ff0000ull) << 24) |
|
||||
((x & 0x000000000000ff00ull) << 40) |
|
||||
((x & 0x00000000000000ffull) << 56))
|
||||
|
||||
cpdef make_can_msg(self, name_or_addr, bus, values, counter=-1):
|
||||
cdef int addr, size
|
||||
if type(name_or_addr) == int:
|
||||
|
|
@ -60,6 +50,6 @@ cdef class CANPacker:
|
|||
size = self.address_to_size[name_or_addr]
|
||||
else:
|
||||
addr, size = self.name_to_address_and_size[name_or_addr.encode('utf8')]
|
||||
cdef uint64_t val = self.pack(addr, values, counter)
|
||||
val = self.ReverseBytes(val)
|
||||
return [addr, 0, (<char *>&val)[:size], bus]
|
||||
|
||||
cdef vector[uint8_t] val = self.pack(addr, values, counter)
|
||||
return [addr, 0, (<char *>&val[0])[:size], bus]
|
||||
|
|
|
|||
|
|
@ -1,3 +1,4 @@
|
|||
#include <algorithm>
|
||||
#include <cassert>
|
||||
#include <cstring>
|
||||
|
||||
|
|
@ -5,83 +6,72 @@
|
|||
#include <fcntl.h>
|
||||
#include <sys/stat.h>
|
||||
#include <sys/mman.h>
|
||||
#include <algorithm>
|
||||
|
||||
#include "common.h"
|
||||
|
||||
#define DEBUG(...)
|
||||
// #define DEBUG printf
|
||||
#define INFO printf
|
||||
|
||||
bool MessageState::parse(uint64_t sec, uint8_t * dat) {
|
||||
uint64_t dat_le = read_u64_le(dat);
|
||||
uint64_t dat_be = read_u64_be(dat);
|
||||
int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
|
||||
int64_t ret = 0;
|
||||
|
||||
for (int i=0; i < parse_sigs.size(); i++) {
|
||||
auto& sig = parse_sigs[i];
|
||||
int64_t tmp;
|
||||
int i = sig.msb / 8;
|
||||
int bits = sig.size;
|
||||
while (i >= 0 && i < msg.size() && bits > 0) {
|
||||
int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i*8;
|
||||
int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1;
|
||||
int size = msb - lsb + 1;
|
||||
|
||||
if (sig.is_little_endian){
|
||||
tmp = (dat_le >> sig.b1) & ((1ULL << sig.b2)-1);
|
||||
} else {
|
||||
tmp = (dat_be >> sig.bo) & ((1ULL << sig.b2)-1);
|
||||
}
|
||||
uint8_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
|
||||
ret |= d << (bits - size);
|
||||
|
||||
bits -= size;
|
||||
i = sig.is_little_endian ? i-1 : i+1;
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
||||
bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
|
||||
|
||||
for (int i = 0; i < parse_sigs.size(); i++) {
|
||||
auto &sig = parse_sigs[i];
|
||||
|
||||
int64_t tmp = get_raw_value(dat, sig);
|
||||
if (sig.is_signed) {
|
||||
tmp -= (tmp >> (sig.b2-1)) ? (1ULL << sig.b2) : 0; //signed
|
||||
tmp -= ((tmp >> (sig.size-1)) & 0x1) ? (1ULL << sig.size) : 0;
|
||||
}
|
||||
|
||||
DEBUG("parse 0x%X %s -> %lld\n", address, sig.name, tmp);
|
||||
DEBUG("parse 0x%X %s -> %ld\n", address, sig.name, tmp);
|
||||
|
||||
bool checksum_failed = false;
|
||||
if (!ignore_checksum) {
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM) {
|
||||
if (honda_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM) {
|
||||
if (toyota_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM) {
|
||||
if (volkswagen_crc(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CRC FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM) {
|
||||
if (subaru_checksum(address, dat_be, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM) {
|
||||
if (chrysler_checksum(address, dat_le, size) != tmp) {
|
||||
INFO("0x%X CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM) {
|
||||
if (pedal_checksum(dat_be, size) != tmp) {
|
||||
INFO("0x%X PEDAL CHECKSUM FAIL\n", address);
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (!ignore_counter) {
|
||||
if (sig.type == SignalType::HONDA_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
} else if (sig.type == SignalType::PEDAL_COUNTER) {
|
||||
if (!update_counter_generic(tmp, sig.b2)) {
|
||||
return false;
|
||||
}
|
||||
if (sig.type == SignalType::HONDA_CHECKSUM && honda_checksum(address, dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
} else if (sig.type == SignalType::TOYOTA_CHECKSUM && toyota_checksum(address, dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
} else if (sig.type == SignalType::VOLKSWAGEN_CHECKSUM && volkswagen_crc(address, dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
} else if (sig.type == SignalType::SUBARU_CHECKSUM && subaru_checksum(address, dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
} else if (sig.type == SignalType::CHRYSLER_CHECKSUM && chrysler_checksum(address, dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
} else if (sig.type == SignalType::PEDAL_CHECKSUM && pedal_checksum(dat) != tmp) {
|
||||
checksum_failed = true;
|
||||
}
|
||||
}
|
||||
|
||||
bool counter_failed = false;
|
||||
if (!ignore_counter) {
|
||||
if (sig.type == SignalType::HONDA_COUNTER || sig.type == SignalType::VOLKSWAGEN_COUNTER || sig.type == SignalType::PEDAL_COUNTER) {
|
||||
counter_failed = !update_counter_generic(tmp, sig.size);
|
||||
}
|
||||
}
|
||||
|
||||
if (checksum_failed || counter_failed) {
|
||||
WARN("0x%X message checks failed, checksum failed %d, counter failed %d\n", address, checksum_failed, counter_failed);
|
||||
return false;
|
||||
}
|
||||
|
||||
// TODO: these may get updated if the invalid or checksum gets checked later
|
||||
vals[i] = tmp * sig.factor + sig.offset;
|
||||
all_vals[i].push_back(vals[i]);
|
||||
}
|
||||
|
|
@ -97,7 +87,7 @@ bool MessageState::update_counter_generic(int64_t v, int cnt_size) {
|
|||
if (((old_counter+1) & ((1 << cnt_size) -1)) != v) {
|
||||
counter_fail += 1;
|
||||
if (counter_fail > 1) {
|
||||
INFO("0x%X COUNTER FAIL %d -- %d vs %d\n", address, counter_fail, old_counter, (int)v);
|
||||
INFO("0x%X COUNTER FAIL #%d -- %d -> %d\n", address, counter_fail, old_counter, (int)v);
|
||||
}
|
||||
if (counter_fail >= MAX_BAD_COUNTER) {
|
||||
return false;
|
||||
|
|
@ -141,6 +131,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
|
|||
}
|
||||
|
||||
state.size = msg->size;
|
||||
assert(state.size < 64); // max signal size is 64 bytes
|
||||
|
||||
// track checksums and counters for this message
|
||||
for (int i = 0; i < msg->num_sigs; i++) {
|
||||
|
|
@ -220,13 +211,11 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
|
|||
}
|
||||
|
||||
void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
|
||||
int msg_count = cans.size();
|
||||
DEBUG("got %d messages\n", cans.size());
|
||||
|
||||
DEBUG("got %d messages\n", msg_count);
|
||||
|
||||
for (int i = 0; i < msg_count; i++) {
|
||||
// parse the messages
|
||||
for (int i = 0; i < cans.size(); i++) {
|
||||
auto cmsg = cans[i];
|
||||
// parse the messages
|
||||
if (cmsg.getSrc() != bus) {
|
||||
// DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
|
||||
continue;
|
||||
|
|
@ -237,11 +226,22 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Rea
|
|||
continue;
|
||||
}
|
||||
|
||||
if (cmsg.getDat().size() > 8) continue; //shouldn't ever happen
|
||||
uint8_t dat[8] = {0};
|
||||
memcpy(dat, cmsg.getDat().begin(), cmsg.getDat().size());
|
||||
auto dat = cmsg.getDat();
|
||||
|
||||
state_it->second.parse(sec, dat);
|
||||
if (dat.size() > 64) {
|
||||
DEBUG("got message longer than 64 bytes: 0x%X %zu\n", cmsg.getAddress(), dat.size());
|
||||
continue;
|
||||
}
|
||||
|
||||
// TODO: this actually triggers for some cars. fix and enable this
|
||||
//if (dat.size() != state_it->second.size) {
|
||||
// DEBUG("got message with unexpected length: expected %d, got %zu for %d", state_it->second.size, dat.size(), cmsg.getAddress());
|
||||
// continue;
|
||||
//}
|
||||
|
||||
std::vector<uint8_t> data(dat.size(), 0);
|
||||
memcpy(data.data(), dat.begin(), dat.size());
|
||||
state_it->second.parse(sec, data);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
|
@ -262,9 +262,9 @@ void CANParser::UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cms
|
|||
}
|
||||
|
||||
auto dat = cmsg.get("dat").as<capnp::Data>();
|
||||
if (dat.size() > 8) return; //shouldn't ever happen
|
||||
uint8_t data[8] = {0};
|
||||
memcpy(data, dat.begin(), dat.size());
|
||||
if (dat.size() > 64) return; // shouldn't ever happen
|
||||
std::vector<uint8_t> data(dat.size(), 0);
|
||||
memcpy(data.data(), dat.begin(), dat.size());
|
||||
state_it->second.parse(sec, data);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,4 @@
|
|||
#!/usr/bin/env python3
|
||||
from __future__ import print_function
|
||||
import os
|
||||
import sys
|
||||
|
||||
|
|
@ -104,7 +103,7 @@ def process(in_fn, out_fn):
|
|||
if count > 1:
|
||||
sys.exit("%s: Duplicate message name in DBC file %s" % (dbc_name, name))
|
||||
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals, len=len)
|
||||
parser_code = template.render(dbc=can_dbc, checksum_type=checksum_type, msgs=msgs, def_vals=def_vals)
|
||||
|
||||
with open(out_fn, "a+") as out_f:
|
||||
out_f.seek(0)
|
||||
|
|
|
|||
|
|
@ -195,8 +195,8 @@ BO_ 916 TCS13: 8 ESC
|
|||
SG_ EBA_ACK : 17|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
|
||||
SG_ FCA_ACK : 18|1@1+ (1.0,0.0) [0.0|1.0] "" Vector__XXX
|
||||
SG_ DF_BF_STAT : 19|2@1+ (1.0,0.0) [0.0|3.0] "" BCW
|
||||
SG_ SCCReqLim : 21|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
|
||||
SG_ TQI_SCC : 23|9@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX
|
||||
SG_ SCCReqLim : 22|2@1+ (1.0,0.0) [0.0|3.0] "" SCC
|
||||
SG_ TQI_SCC : 24|8@1+ (0.390625,0.0) [0.0|199.609375] "%" Vector__XXX
|
||||
SG_ ACCEL_REF_ACC : 32|11@1+ (0.01,-10.23) [-10.23|10.24] "m/s^2" EMS,SCC
|
||||
SG_ ACCEnable : 43|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
|
||||
SG_ DriverOverride : 45|2@1+ (1.0,0.0) [0.0|3.0] "" EMS,SCC
|
||||
|
|
|
|||
|
|
@ -82,6 +82,33 @@ BO_ 697 DAS_control: 8 NEO
|
|||
SG_ DAS_controlCounter : 53|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_controlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 521 DAS_longControl: 8 NEO
|
||||
SG_ DAS_locMode : 0|2@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_locState : 2|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_locRequest : 5|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_locJerkMin : 8|8@1+ (0.034,-8.67) [-8.67|0] "m/s^3" NEO
|
||||
SG_ DAS_locJerkMax : 16|8@1+ (0.034,0) [0|8.67] "m/s^3" NEO
|
||||
SG_ DAS_locSpeed : 24|11@1+ (0.1,0) [0|204.7] "kph" NEO
|
||||
SG_ DAS_locAccelMin : 35|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
|
||||
SG_ DAS_locAccelMax : 44|9@1+ (0.04,-15) [-15|5.44] "m/s^2" NEO
|
||||
SG_ DAS_longControlCounter : 53|3@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_longControlChecksum : 56|8@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 569 DAS_lanes: 8 NEO
|
||||
SG_ DAS_leftLaneExists : 0|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_rightLaneExists : 1|1@1+ (1,0) [0|0] "" NEO
|
||||
SG_ DAS_virtualLaneWidth : 4|4@1+ (0.3125,2) [2|7] "m" NEO
|
||||
SG_ DAS_virtualLaneViewRange : 8|8@1+ (1,0) [0|160] "m" NEO
|
||||
SG_ DAS_virtualLaneC0 : 16|8@1+ (0.035,-3.5) [-3.5|3.5] "m" NEO
|
||||
SG_ DAS_virtualLaneC1 : 24|8@1+ (0.0016,-0.2) [-0.2|0.2] "rad" NEO
|
||||
SG_ DAS_virtualLaneC2 : 32|8@1+ (2E-05,-0.0025) [-0.0025|0.0025] "m-1" NEO
|
||||
SG_ DAS_virtualLaneC3 : 40|8@1+ (2.4E-07,-3E-05) [-3E-05|3E-05] "m-2" NEO
|
||||
SG_ DAS_leftLineUsage : 48|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAS_rightLineUsage : 50|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAS_leftFork : 52|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAS_rightFork : 54|2@1+ (1,0) [0|3] "" NEO
|
||||
SG_ DAS_lanesCounter : 60|4@1+ (1,0) [0|0] "" NEO
|
||||
|
||||
BO_ 257 GTW_epasControl: 3 NEO
|
||||
SG_ GTW_epasControlChecksum : 23|8@0+ (1,0) [0|255] "" NEO
|
||||
SG_ GTW_epasControlCounter : 11|4@0+ (1,0) [0|15] "" NEO
|
||||
|
|
@ -625,6 +652,61 @@ BO_ 522 BrakeMessage: 8 XXX
|
|||
|
||||
BO_ 921 AutopilotStatus: 8 XXX
|
||||
SG_ autopilotStatus : 0|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_blindSpotRearLeft : 4|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_blindSpotRearRight : 6|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_fusedSpeedLimit : 8|5@1+ (5,0) [0|150] "kph/mph" XXX
|
||||
SG_ DAS_suppressSpeedWarning : 13|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_summonObstacle : 14|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_summonClearedGate : 15|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_visionOnlySpeedLimit : 16|5@1+ (5,0) [0|150] "kph/mph" XXX
|
||||
SG_ DAS_heaterState : 21|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_forwardCollisionWarning : 22|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_autoparkReady : 24|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_autoParked : 25|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_autoparkWaitingForBrake : 26|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_summonFwdLeashReached : 28|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_summonRvsLeashReached : 29|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_sideCollisionAvoid : 30|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_sideCollisionWarning : 32|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_sideCollisionInhibit : 34|1@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_csaState : 35|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_laneDepartureWarning : 37|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_fleetSpeedState : 40|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_autopilotHandsOnState : 42|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_autoLaneChangeState : 46|5@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_summonAvailable : 51|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_statusCounter : 52|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_statusChecksum : 56|8@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 905 DAS_status2: 8 XXX
|
||||
SG_ DAS_accSpeedLimit : 0|10@1+ (0.2,0) [0|204.6] "mph" XXX
|
||||
SG_ DAS_pmmObstacleSeverity : 10|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ DAS_pmmLoggingRequest : 13|1@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_activationFailureStatus : 14|2@1+ (1,0) [0|1] "" XXX
|
||||
SG_ DAS_pmmUltrasonicsFaultReason : 16|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ DAS_pmmRadarFaultReason : 19|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_pmmSysFaultReason : 21|3@1+ (1,0) [0|7] "" XXX
|
||||
SG_ DAS_pmmCameraFaultReason : 24|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_ACC_report : 26|5@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_lssState : 31|3@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_radarTelemetry : 34|2@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_robState : 36|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_driverInteractionLevel : 38|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_ppOffsetDesiredRamp : 40|8@1+ (0.01,-1.28) [-1.28|1.27] "m" XXX
|
||||
SG_ DAS_longCollisionWarning : 48|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ DAS_status2Counter : 52|4@1+ (1,0) [0|0] "" XXX
|
||||
SG_ DAS_status2Checksum : 56|8@1+ (1,0) [0|0] "" XXX
|
||||
|
||||
BO_ 1001 DAS_bodyControls: 8 XXX
|
||||
SG_ DAS_headlightRequest : 0|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_hazardLightRequest : 2|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_wiperSpeed : 4|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ DAS_turnIndicatorRequest : 8|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_highLowBeamDecision : 10|2@1+ (1,0) [0|3] "" XXX
|
||||
SG_ DAS_highLowBeamOffReason : 12|3@1+ (1,0) [0|4] "" XXX
|
||||
SG_ DAS_turnIndicatorRequestReason : 16|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ DAS_bodyControlsCounter : 52|4@1+ (1,0) [0|15] "" XXX
|
||||
SG_ DAS_bodyControlsChecksum : 56|8@1+ (1,0) [0|255] "" XXX
|
||||
|
||||
VAL_ 3 StW_Angl 16383 "SNA" ;
|
||||
VAL_ 3 StW_AnglSens_Id 2 "MUST" 0 "PSBL" 1 "SELF" ;
|
||||
|
|
@ -682,6 +764,18 @@ VAL_ 309 ESP_espOffLamp 0 "OFF" 1 "ON" ;
|
|||
VAL_ 309 ESP_stabilityControlSts 2 "ENGAGED" 3 "FAULTED" 5 "INIT" 4 "NOT_CONFIGURED" 0 "OFF" 1 "ON" ;
|
||||
VAL_ 309 ESP_tcLampFlash 1 "FLASH" 0 "OFF" ;
|
||||
VAL_ 568 UI_mapSpeedLimit 31 "SNA" 30 "UNLIMITED" 29 "LESS_OR_EQ_160" 28 "LESS_OR_EQ_150" 27 "LESS_OR_EQ_140" 26 "LESS_OR_EQ_130" 25 "LESS_OR_EQ_120" 24 "LESS_OR_EQ_115" 23 "LESS_OR_EQ_110" 22 "LESS_OR_EQ_105" 21 "LESS_OR_EQ_100" 20 "LESS_OR_EQ_95" 19 "LESS_OR_EQ_90" 18 "LESS_OR_EQ_85" 17 "LESS_OR_EQ_80" 16 "LESS_OR_EQ_75" 15 "LESS_OR_EQ_70" 14 "LESS_OR_EQ_65" 13 "LESS_OR_EQ_60" 12 "LESS_OR_EQ_55" 11 "LESS_OR_EQ_50" 10 "LESS_OR_EQ_45" 9 "LESS_OR_EQ_40" 8 "LESS_OR_EQ_35" 7 "LESS_OR_EQ_30" 6 "LESS_OR_EQ_25" 5 "LESS_OR_EQ_20" 4 "LESS_OR_EQ_15" 3 "LESS_OR_EQ_10" 2 "LESS_OR_EQ_7" 1 "LESS_OR_EQ_5" 0 "UNKNOWN" ;
|
||||
VAL_ 569 DAS_leftLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ;
|
||||
VAL_ 569 DAS_rightLineUsage 3 "BLACKLISTED" 2 "FUSED" 1 "AVAILABLE" 0 "REJECTED_UNAVAILABLE" ;
|
||||
VAL_ 569 DAS_leftFork 3 "LEFT_FORK_UNAVAILABLE" 2 "LEFT_FORK_SELECTED" 1 "LEFT_FORK_AVAILABLE" 0 "LEFT_FORK_NONE" ;
|
||||
VAL_ 569 DAS_rightFork 3 "RIGHT_FORK_UNAVAILABLE" 2 "RIGHT_FORK_SELECTED" 1 "RIGHT_FORK_AVAILABLE" 0 "RIGHT_FORK_NONE" ;
|
||||
VAL_ 521 DAS_locMode 3 "DAS_LOC_DRIVERLESS" 2 "DAS_LOC_RESTRICTED" 1 "DAS_LOC_NORMAL" 0 "DAS_LOC_OFF" ;
|
||||
VAL_ 521 DAS_locState 7 "DAS_LOC_FAULT_SNA" 6 "DAS_LOC_AEB_ACTIVE" 2 "DAS_LOC_CANCEL_SILENT" 1 "DAS_LOC_CANCEL_GENERIC" 0 "DAS_LOC_HEALTHY" ;
|
||||
VAL_ 521 DAS_locRequest 4 "DAS_RQ_PARK" 3 "DAS_RQ_HOLD" 2 "DAS_RQ_BACKWARD" 1 "DAS_RQ_FORWARD" 0 "DAS_RQ_IDLE" ;
|
||||
VAL_ 521 DAS_locJerkMin 255 "SNA" ;
|
||||
VAL_ 521 DAS_locJerkMax 255 "SNA" ;
|
||||
VAL_ 521 DAS_locSpeed 2047 "SNA" ;
|
||||
VAL_ 521 DAS_locAccelMin 511 "SNA" ;
|
||||
VAL_ 521 DAS_locAccelMax 511 "SNA" ;
|
||||
VAL_ 522 driverBrakeStatus 2 "APPLIED" 1 "NOT_APPLIED" ;
|
||||
VAL_ 760 UI_mapSpeedLimitUnits 1 "KPH" 0 "MPH" ;
|
||||
VAL_ 760 UI_userSpeedOffsetUnits 1 "KPH" 0 "MPH" ;
|
||||
|
|
@ -742,7 +836,45 @@ VAL_ 880 EPAS_steeringRackForce 1022 "NOT_IN_SPEC" 1023 "SNA" ;
|
|||
VAL_ 880 EPAS_steeringReduced 0 "NORMAL_ASSIST" 1 "REDUCED_ASSIST" ;
|
||||
VAL_ 880 EPAS_torsionBarTorque 0 "SEE_SPECIFICATION" 4095 "SNA" 4094 "UNDEFINABLE_DATA" ;
|
||||
VAL_ 904 MCU_clusterReadyForDrive 0 "NO_SNA" 1 "YES" ;
|
||||
VAL_ 905 DAS_accSpeedLimit 1023 "SNA" 0 "NONE" ;
|
||||
VAL_ 905 DAS_pmmObstacleSeverity 7 "PMM_SNA" 6 "PMM_ACCEL_LIMIT" 5 "PMM_CRASH_FRONT" 4 "PMM_CRASH_REAR" 3 "PMM_BRAKE_REQUEST" 2 "PMM_IMMINENT_FRONT" 1 "PMM_IMMINENT_REAR" 0 "PMM_NONE" ;
|
||||
VAL_ 905 DAS_pmmLoggingRequest 1 "TRUE" 0 "FALSE" ;
|
||||
VAL_ 905 DAS_activationFailureStatus 2 "LC_ACTIVATION_FAILED_2" 1 "LC_ACTIVATION_FAILED_1" 0 "LC_ACTIVATION_IDLE" ;
|
||||
VAL_ 905 DAS_pmmUltrasonicsFaultReason 4 "PMM_ULTRASONICS_INVALID_MIA" 3 "PMM_ULTRASONICS_BLOCKED_BOTH" 2 "PMM_ULTRASONICS_BLOCKED_REAR" 1 "PMM_ULTRASONICS_BLOCKED_FRONT" 0 "PMM_ULTRASONICS_NO_FAULT" ;
|
||||
VAL_ 905 DAS_pmmRadarFaultReason 2 "PMM_RADAR_INVALID_MIA" 1 "PMM_RADAR_BLOCKED_FRONT" 0 "PMM_RADAR_NO_FAULT" ;
|
||||
VAL_ 905 DAS_pmmSysFaultReason 7 "PMM_FAULT_BRAKE_PEDAL_INHIBIT" 6 "PMM_FAULT_ROAD_TYPE" 5 "PMM_FAULT_DISABLED_BY_USER" 4 "PMM_FAULT_STEERING_ANGLE_RATE" 3 "PMM_FAULT_DI_FAULT" 2 "PMM_FAULT_SPEED" 1 "PMM_FAULT_DAS_DISABLED" 0 "PMM_FAULT_NONE" ;
|
||||
VAL_ 905 DAS_pmmCameraFaultReason 2 "PMM_CAMERA_INVALID_MIA" 1 "PMM_CAMERA_BLOCKED_FRONT" 0 "PMM_CAMERA_NO_FAULT" ;
|
||||
VAL_ 905 DAS_ACC_report 24 "ACC_REPORT_BEHAVIOR_REPORT" 23 "ACC_REPORT_CAMERA_ONLY" 22 "ACC_REPORT_RADAR_OBJ_FIVE" 21 "ACC_REPORT_CIPV_CUTTING_OUT" 20 "ACC_REPORT_MCVLR_IN_PATH" 19 "ACC_REPORT_MCVLR_DPP" 18 "ACC_REPORT_FLEET_SPEEDS" 17 "ACC_REPORT_TARGET_MCP" 16 "ACC_REPORT_RADAR_OBJ_TWO" 15 "ACC_REPORT_RADAR_OBJ_ONE" 14 "ACC_REPORT_LC_EXTERNAL_STATE_ACTIVE_RESTRICTED" 13 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTED" 12 "ACC_REPORT_LC_EXTERNAL_STATE_ABORTING" 11 "ACC_REPORT_LC_HANDS_ON_REQD_STRUCK_OUT" 10 "ACC_REPORT_CSA" 9 "ACC_REPORT_TARGET_TYPE_FAULT" 8 "ACC_REPORT_TARGET_TYPE_IPSO" 7 "ACC_REPORT_TARGET_TYPE_TRAFFIC_LIGHT" 6 "ACC_REPORT_TARGET_TYPE_STOP_SIGN" 5 "ACC_REPORT_TARGET_CUTIN" 4 "ACC_REPORT_TARGET_MCVR" 3 "ACC_REPORT_TARGET_MCVL" 2 "ACC_REPORT_TARGET_IN_FRONT_OF_CIPV" 1 "ACC_REPORT_TARGET_CIPV" 0 "ACC_REPORT_TARGET_NONE" ;
|
||||
VAL_ 905 DAS_lssState 7 "LSS_STATE_OFF" 6 "LSS_STATE_ABORT" 5 "LSS_STATE_BLINDSPOT" 4 "LSS_STATE_MONITOR" 3 "LSS_STATE_ELK" 2 "LSS_STATE_LKA" 1 "LSS_STATE_LDW" 0 "LSS_STATE_FAULT" ;
|
||||
VAL_ 905 DAS_radarTelemetry 2 "RADAR_TELEMETRY_URGENT" 1 "RADAR_TELEMETRY_NORMAL" 0 "RADAR_TELEMETRY_IDLE" ;
|
||||
VAL_ 905 DAS_robState 3 "ROB_STATE_MAPLESS" 2 "ROB_STATE_ACTIVE" 1 "ROB_STATE_MEASURE" 0 "ROB_STATE_INHIBITED" ;
|
||||
VAL_ 905 DAS_driverInteractionLevel 2 "CONTINUED_DRIVER_NOT_INTERACTING" 1 "DRIVER_NOT_INTERACTING" 0 "DRIVER_INTERACTING" ;
|
||||
VAL_ 905 DAS_ppOffsetDesiredRamp 128 "PP_NO_OFFSET" ;
|
||||
VAL_ 905 DAS_longCollisionWarning 15 "FCM_LONG_COLLISION_WARNING_SNA" 12 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV2" 11 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR2" 10 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVR" 9 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL2" 8 "FCM_LONG_COLLISION_WARNING_VEHICLE_MCVL" 7 "FCM_LONG_COLLISION_WARNING_VEHICLE_CUTIN" 6 "FCM_LONG_COLLISION_WARNING_VEHICLE_CIPV" 5 "FCM_LONG_COLLISION_WARNING_TFL_STOPLINE" 4 "FCM_LONG_COLLISION_WARNING_STOPSIGN_STOPLINE" 3 "FCM_LONG_COLLISION_WARNING_IPSO" 2 "FCM_LONG_COLLISION_WARNING_PEDESTRIAN" 1 "FCM_LONG_COLLISION_WARNING_VEHICLE_UNKNOWN" 0 "FCM_LONG_COLLISION_WARNING_NONE" ;
|
||||
VAL_ 921 autopilotStatus 5 "ACTIVE_NAVIGATE_ON_AUTOPILOT" 4 "ACTIVE_2" 3 "ACTIVE_1" 2 "AVAILABLE" 1 "UNAVAILABLE" 0 "DISABLED" ;
|
||||
VAL_ 921 DAS_blindSpotRearLeft 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ;
|
||||
VAL_ 921 DAS_blindSpotRearRight 3 "SNA" 2 "WARNING_LEVEL_2" 1 "WARNING_LEVEL_1" 0 "NO_WARNING" ;
|
||||
VAL_ 921 DAS_fusedSpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
|
||||
VAL_ 921 DAS_suppressSpeedWarning 1 "Suppress_Speed_Warning" 0 "Do_Not_Suppress" ;
|
||||
VAL_ 921 DAS_visionOnlySpeedLimit 31 "NONE" 0 "UNKNOWN_SNA" ;
|
||||
VAL_ 921 DAS_heaterState 1 "HEATER_ON" 0 "HEATER_OFF_SNA" ;
|
||||
VAL_ 921 DAS_forwardCollisionWarning 3 "SNA" 1 "FORWARD_COLLISION_WARNING" 0 "NONE" ;
|
||||
VAL_ 921 DAS_autoparkReady 1 "AUTOPARK_READY" 0 "AUTOPARK_UNAVAILABLE" ;
|
||||
VAL_ 921 DAS_sideCollisionAvoid 3 "SNA" 2 "AVOID_RIGHT" 1 "AVOID_LEFT" 0 "NONE" ;
|
||||
VAL_ 921 DAS_sideCollisionWarning 3 "WARN_LEFT_RIGHT" 2 "WARN_RIGHT" 1 "WARN_LEFT" 0 "NONE" ;
|
||||
VAL_ 921 DAS_sideCollisionInhibit 1 "INHIBIT" 0 "NO_INHIBIT" ;
|
||||
VAL_ 921 DAS_csaState 3 "CSA_EXTERNAL_STATE_HOLD" 2 "CSA_EXTERNAL_STATE_ENABLE" 1 "CSA_EXTERNAL_STATE_AVAILABLE" 0 "CSA_EXTERNAL_STATE_UNAVAILABLE" ;
|
||||
VAL_ 921 DAS_laneDepartureWarning 5 "SNA" 4 "RIGHT_WARNING_SEVERE" 3 "LEFT_WARNING_SEVERE" 2 "RIGHT_WARNING" 1 "LEFT_WARNING" 0 "NONE" ;
|
||||
VAL_ 921 DAS_fleetSpeedState 3 "FLEETSPEED_HOLD" 2 "FLEETSPEED_ACTIVE" 1 "FLEETSPEED_AVAILABLE" 0 "FLEETSPEED_UNAVAILABLE" ;
|
||||
VAL_ 921 DAS_autopilotHandsOnState 15 "LC_HANDS_ON_SNA" 8 "LC_HANDS_ON_SUSPENDED" 7 "LC_HANDS_ON_REQD_STRUCK_OUT" 5 "LC_HANDS_ON_REQD_CHIME_2" 4 "LC_HANDS_ON_REQD_CHIME_1" 3 "LC_HANDS_ON_REQD_VISUAL" 2 "LC_HANDS_ON_REQD_NOT_DETECTED" 1 "LC_HANDS_ON_REQD_DETECTED" 0 "LC_HANDS_ON_NOT_REQD" ;
|
||||
VAL_ 921 DAS_autoLaneChangeState 31 "ALC_SNA" 30 "ALC_ABORT_MISSION_PLAN_INVALID" 29 "ALC_ABORT_TIMEOUT" 28 "ALC_WAITING_HANDS_ON" 27 "ALC_BLOCKED_LANE_TYPE_R" 26 "ALC_BLOCKED_LANE_TYPE_L" 25 "ALC_BLOCKED_VEH_TTC_AND_USS_R" 24 "ALC_BLOCKED_VEH_TTC_R" 23 "ALC_BLOCKED_VEH_TTC_AND_USS_L" 22 "ALC_BLOCKED_VEH_TTC_L" 21 "ALC_UNAVAILABLE_SOLID_LANE_LINE" 20 "ALC_ABORT_OTHER_REASON" 19 "ALC_ABORT_BLINKER_TURNED_OFF" 18 "ALC_ABORT_LC_HEALTH_BAD" 17 "ALC_ABORT_POOR_VIEW_RANGE" 16 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_R" 15 "ALC_ABORT_SIDE_OBSTACLE_PRESENT_L" 14 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_R" 13 "ALC_WAITING_FOR_FWD_OBST_TO_PASS_L" 12 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_R" 11 "ALC_WAITING_FOR_SIDE_OBST_TO_PASS_L" 10 "ALC_IN_PROGRESS_R" 9 "ALC_IN_PROGRESS_L" 8 "ALC_AVAILABLE_BOTH" 7 "ALC_AVAILABLE_ONLY_R" 6 "ALC_AVAILABLE_ONLY_L" 5 "ALC_UNAVAILABLE_VEHICLE_SPEED" 4 "ALC_UNAVAILABLE_EXITING_HIGHWAY" 3 "ALC_UNAVAILABLE_TP_FOLLOW" 2 "ALC_UNAVAILABLE_SONICS_INVALID" 1 "ALC_UNAVAILABLE_NO_LANES" 0 "ALC_UNAVAILABLE_DISABLED" ;
|
||||
VAL_ 1001 DAS_headlightRequest 3 "DAS_HEADLIGHT_REQUEST_INVALID" 1 "DAS_HEADLIGHT_REQUEST_ON" 0 "DAS_HEADLIGHT_REQUEST_OFF" ;
|
||||
VAL_ 1001 DAS_hazardLightRequest 3 "DAS_REQUEST_HAZARDS_SNA" 2 "DAS_REQUEST_HAZARDS_UNUSED" 1 "DAS_REQUEST_HAZARDS_ON" 0 "DAS_REQUEST_HAZARDS_OFF" ;
|
||||
VAL_ 1001 DAS_wiperSpeed 15 "DAS_WIPER_SPEED_INVALID" 14 "DAS_WIPER_SPEED_14" 13 "DAS_WIPER_SPEED_13" 12 "DAS_WIPER_SPEED_12" 11 "DAS_WIPER_SPEED_11" 10 "DAS_WIPER_SPEED_10" 9 "DAS_WIPER_SPEED_9" 8 "DAS_WIPER_SPEED_8" 7 "DAS_WIPER_SPEED_7" 6 "DAS_WIPER_SPEED_6" 5 "DAS_WIPER_SPEED_5" 4 "DAS_WIPER_SPEED_4" 3 "DAS_WIPER_SPEED_3" 2 "DAS_WIPER_SPEED_2" 1 "DAS_WIPER_SPEED_1" 0 "DAS_WIPER_SPEED_OFF" ;
|
||||
VAL_ 1001 DAS_turnIndicatorRequest 3 "DAS_TURN_INDICATOR_CANCEL" 2 "DAS_TURN_INDICATOR_RIGHT" 1 "DAS_TURN_INDICATOR_LEFT" 0 "DAS_TURN_INDICATOR_NONE" ;
|
||||
VAL_ 1001 DAS_highLowBeamDecision 3 "DAS_HIGH_BEAM_SNA" 2 "DAS_HIGH_BEAM_ON" 1 "DAS_HIGH_BEAM_OFF" 0 "DAS_HIGH_BEAM_UNDECIDED" ;
|
||||
VAL_ 1001 DAS_highLowBeamOffReason 5 "HIGH_BEAM_OFF_REASON_SNA" 4 "HIGH_BEAM_OFF_REASON_HEAD_LIGHT" 3 "HIGH_BEAM_OFF_REASON_AMBIENT_LIGHT" 2 "HIGH_BEAM_OFF_REASON_MOVING_RADAR_TARGET" 1 "HIGH_BEAM_OFF_REASON_MOVING_VISION_TARGET" 0 "HIGH_BEAM_ON" ;
|
||||
VAL_ 1001 DAS_turnIndicatorRequestReason 6 "DAS_ACTIVE_COMMANDED_LANE_CHANGE" 5 "DAS_CANCEL_FORK" 4 "DAS_CANCEL_LANE_CHANGE" 3 "DAS_ACTIVE_FORK" 2 "DAS_ACTIVE_SPEED_LANE_CHANGE" 1 "DAS_ACTIVE_NAV_LANE_CHANGE" 0 "DAS_NONE" ;
|
||||
VAL_ 1160 DAS_steeringAngleRequest 16384 "ZERO_ANGLE" ;
|
||||
VAL_ 1160 DAS_steeringControlType 1 "ANGLE_CONTROL" 3 "DISABLED" 0 "NONE" 2 "RESERVED" ;
|
||||
VAL_ 1160 DAS_steeringHapticRequest 1 "ACTIVE" 0 "IDLE" ;
|
||||
|
|
|
|||
|
|
@ -145,9 +145,10 @@ BO_ 581 GAS_PEDAL_HYBRID: 8 XXX
|
|||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
|
|
|||
|
|
@ -145,9 +145,10 @@ BO_ 581 GAS_PEDAL_HYBRID: 8 XXX
|
|||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
|
@ -549,6 +550,13 @@ BO_ 1014 BSM: 8 XXX
|
|||
SG_ ADJACENT_ENABLED : 7|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ APPROACHING_ENABLED : 15|1@0+ (1,0) [0|1] "" XXX
|
||||
|
||||
CM_ SG_ 401 PERCENTAGE "driver override percentage (0-100), very close to steeringPressed in OP";
|
||||
CM_ SG_ 401 SETME_X64 "ramps to 0 smoothly then back on falling edge of STEER_REQUEST if BIT isn't 1";
|
||||
CM_ SG_ 401 ANGLE "angle of car relative to lane center on LTA camera";
|
||||
CM_ SG_ 401 STEER_ANGLE_CMD "desired angle, OEM steers up to 95 degrees, no angle limit but torque will bottom out";
|
||||
CM_ SG_ 401 STEER_REQUEST "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 401 BIT "has correlation to STEER_REQUEST";
|
||||
CM_ SG_ 401 STEER_REQUEST_2 "enable bit for steering, 1 to steer, 0 to not";
|
||||
CM_ SG_ 550 BRAKE_PRESSURE "seems prop to pedal force";
|
||||
CM_ SG_ 550 BRAKE_POSITION "seems proportional to pedal displacement, unclear the max value of 0x1c8";
|
||||
CM_ SG_ 610 TYPE "seems 1 on Corolla, 0 on all others";
|
||||
|
|
|
|||
|
|
@ -145,9 +145,10 @@ BO_ 581 GAS_PEDAL_HYBRID: 8 XXX
|
|||
BO_ 608 STEER_TORQUE_SENSOR: 8 XXX
|
||||
SG_ STEER_TORQUE_EPS : 47|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_TORQUE_DRIVER : 15|16@0- (1,0) [-32768|32767] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
SG_ STEER_ANGLE_INITIALIZING : 3|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ STEER_OVERRIDE : 0|1@0+ (1,0) [0|1] "" XXX
|
||||
SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
|
||||
SG_ STEER_ANGLE : 31|16@0- (0.0573,0) [-500|500] "" XXX
|
||||
|
||||
BO_ 614 STEERING_IPAS: 8 IPAS
|
||||
SG_ STATE : 7|4@0+ (1,0) [0|15] "" XXX
|
||||
|
|
|
|||
|
|
@ -21,8 +21,9 @@ Programming
|
|||
**Panda**
|
||||
|
||||
```
|
||||
scons -u # Compile
|
||||
./flash.sh # Compile & Flash
|
||||
scons -u # Compile
|
||||
./flash_h7.sh # for red panda
|
||||
./flash.sh # for other pandas
|
||||
```
|
||||
|
||||
Troubleshooting
|
||||
|
|
@ -30,8 +31,11 @@ Troubleshooting
|
|||
|
||||
If your panda will not flash and is quickly blinking a single Green LED, use:
|
||||
```
|
||||
./recover.sh
|
||||
./recover_h7.sh # for red panda
|
||||
./recover.sh # for other pandas
|
||||
```
|
||||
|
||||
A [panda paw](https://comma.ai/shop/products/panda-paw) can be used to put panda into DFU mode.
|
||||
|
||||
|
||||
[dfu-util](http://github.com/dsigma/dfu-util.git) for flashing
|
||||
|
|
|
|||
|
|
@ -7,6 +7,8 @@
|
|||
//#define DEBUG_SPI
|
||||
//#define DEBUG_FAULTS
|
||||
|
||||
#define DEEPSLEEP_WAKEUP_DELAY 3U
|
||||
|
||||
#define NULL ((void*)0)
|
||||
#define COMPILE_TIME_ASSERT(pred) ((void)sizeof(char[1 - (2 * ((int)(!(pred))))]))
|
||||
|
||||
|
|
|
|||
|
|
@ -9,7 +9,12 @@ bool can_set_speed(uint8_t can_number) {
|
|||
CAN_TypeDef *CAN = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CAN, bus_config[bus_number].can_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(
|
||||
CAN,
|
||||
bus_config[bus_number].can_speed,
|
||||
can_loopback,
|
||||
(unsigned int)(can_silent) & (1U << can_number)
|
||||
);
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -161,9 +161,9 @@ void can_clear(can_ring *q) {
|
|||
// Helpers
|
||||
// Panda: Bus 0=CAN1 Bus 1=CAN2 Bus 2=CAN3
|
||||
bus_config_t bus_config[] = {
|
||||
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 5000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 0U, .can_num_lookup = 0U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 1U, .can_num_lookup = 1U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 2U, .can_num_lookup = 2U, .can_speed = 5000U, .can_data_speed = 20000U, .canfd_enabled = false, .brs_enabled = false },
|
||||
{ .bus_lookup = 0xFFU, .can_num_lookup = 0xFFU, .can_speed = 333U, .can_data_speed = 333U, .canfd_enabled = false, .brs_enabled = false },
|
||||
};
|
||||
|
||||
|
|
|
|||
|
|
@ -17,7 +17,13 @@ bool can_set_speed(uint8_t can_number) {
|
|||
FDCAN_GlobalTypeDef *CANx = CANIF_FROM_CAN_NUM(can_number);
|
||||
uint8_t bus_number = BUS_NUM_FROM_CAN_NUM(can_number);
|
||||
|
||||
ret &= llcan_set_speed(CANx, bus_config[bus_number].can_speed, bus_config[bus_number].can_data_speed, can_loopback, (unsigned int)(can_silent) & (1U << can_number));
|
||||
ret &= llcan_set_speed(
|
||||
CANx,
|
||||
bus_config[bus_number].can_speed,
|
||||
bus_config[bus_number].can_data_speed,
|
||||
can_loopback,
|
||||
(unsigned int)(can_silent) & (1U << can_number)
|
||||
);
|
||||
return ret;
|
||||
}
|
||||
|
||||
|
|
@ -146,6 +152,9 @@ void can_rx(uint8_t can_number) {
|
|||
to_push.bus = bus_number;
|
||||
to_push.data_len_code = ((fifo->header[1] >> 16) & 0xFU);
|
||||
|
||||
bool canfd_frame = ((fifo->header[1] >> 21) & 0x1U);
|
||||
bool brs_frame = ((fifo->header[1] >> 20) & 0x1U);
|
||||
|
||||
uint8_t data_len_w = (dlc_to_len[to_push.data_len_code] / 4U);
|
||||
data_len_w += ((dlc_to_len[to_push.data_len_code] % 4U) > 0U) ? 1U : 0U;
|
||||
for (unsigned int i = 0; i < data_len_w; i++) {
|
||||
|
|
@ -173,6 +182,14 @@ void can_rx(uint8_t can_number) {
|
|||
current_board->set_led(LED_BLUE, true);
|
||||
can_send_errs += can_push(&can_rx_q, &to_push) ? 0U : 1U;
|
||||
|
||||
// Enable CAN FD and BRS if CAN FD message was received
|
||||
if (!(bus_config[can_number].canfd_enabled) && (canfd_frame)) {
|
||||
bus_config[can_number].canfd_enabled = true;
|
||||
}
|
||||
if (!(bus_config[can_number].brs_enabled) && (brs_frame)) {
|
||||
bus_config[can_number].brs_enabled = true;
|
||||
}
|
||||
|
||||
// update read index
|
||||
CANx->RXF0A = rx_fifo_idx;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -942,3 +942,11 @@ void usb_outep3_resume_if_paused(void) {
|
|||
}
|
||||
EXIT_CRITICAL();
|
||||
}
|
||||
|
||||
void usb_soft_disconnect(bool enable) {
|
||||
if (enable) {
|
||||
USBx_DEVICE->DCTL |= USB_OTG_DCTL_SDIS;
|
||||
} else {
|
||||
USBx_DEVICE->DCTL &= ~USB_OTG_DCTL_SDIS;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -25,6 +25,7 @@
|
|||
#define FAULT_INTERRUPT_RATE_KLINE_INIT (1U << 19)
|
||||
#define FAULT_INTERRUPT_RATE_CLOCK_SOURCE (1U << 20)
|
||||
#define FAULT_INTERRUPT_RATE_TICK (1U << 21)
|
||||
#define FAULT_INTERRUPT_RATE_EXTI (1U << 22)
|
||||
|
||||
// Permanent faults
|
||||
#define PERMANENT_FAULTS 0U
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
// When changing this struct, boardd and python/__init__.py needs to be kept up to date!
|
||||
#define HEALTH_PACKET_VERSION 3
|
||||
// When changing this struct, python/__init__.py needs to be kept up to date!
|
||||
#define HEALTH_PACKET_VERSION 4
|
||||
struct __attribute__((packed)) health_t {
|
||||
uint32_t uptime_pkt;
|
||||
uint32_t voltage_pkt;
|
||||
|
|
@ -20,6 +20,6 @@ struct __attribute__((packed)) health_t {
|
|||
uint8_t fault_status_pkt;
|
||||
uint8_t power_save_enabled_pkt;
|
||||
uint8_t heartbeat_lost_pkt;
|
||||
uint16_t unsafe_mode_pkt;
|
||||
uint16_t alternative_experience_pkt;
|
||||
uint32_t blocked_msg_cnt_pkt;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -248,7 +248,7 @@ void tick_handler(void) {
|
|||
}
|
||||
|
||||
// enter CDP mode when car starts to ensure we are charging a turned off EON
|
||||
if (check_started() && (usb_power_mode != USB_POWER_CDP)) {
|
||||
if (check_started() && ((usb_power_mode != USB_POWER_CDP) || !usb_enumerated)) {
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
}
|
||||
}
|
||||
|
|
@ -276,6 +276,38 @@ void tick_handler(void) {
|
|||
TICK_TIMER->SR = 0;
|
||||
}
|
||||
|
||||
void EXTI_IRQ_Handler(void) {
|
||||
if (check_exti_irq()) {
|
||||
exti_irq_clear();
|
||||
clock_init();
|
||||
|
||||
current_board->set_usb_power_mode(USB_POWER_CDP);
|
||||
set_power_save_state(POWER_SAVE_STATUS_DISABLED);
|
||||
deepsleep_requested = false;
|
||||
heartbeat_counter = 0U;
|
||||
usb_soft_disconnect(false);
|
||||
|
||||
NVIC_EnableIRQ(TICK_TIMER_IRQ);
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t rtc_counter = 0;
|
||||
void RTC_WKUP_IRQ_Handler(void) {
|
||||
exti_irq_clear();
|
||||
clock_init();
|
||||
|
||||
rtc_counter++;
|
||||
if ((rtc_counter % 2U) == 0U) {
|
||||
current_board->set_led(LED_BLUE, false);
|
||||
} else {
|
||||
current_board->set_led(LED_BLUE, true);
|
||||
}
|
||||
|
||||
if (rtc_counter == __UINT8_MAX__) {
|
||||
rtc_counter = 1U;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
int main(void) {
|
||||
// Init interrupt table
|
||||
|
|
@ -387,7 +419,25 @@ int main(void) {
|
|||
}
|
||||
#endif
|
||||
} else {
|
||||
if (deepsleep_requested && !usb_enumerated && !check_started()) {
|
||||
usb_soft_disconnect(true);
|
||||
current_board->set_fan_power(0U);
|
||||
current_board->set_usb_power_mode(USB_POWER_CLIENT);
|
||||
NVIC_DisableIRQ(TICK_TIMER_IRQ);
|
||||
delay(512000U);
|
||||
|
||||
// Init IRQs for CAN transceiver and ignition line
|
||||
exti_irq_init();
|
||||
|
||||
// Init RTC Wakeup event on EXTI22
|
||||
REGISTER_INTERRUPT(RTC_WKUP_IRQn, RTC_WKUP_IRQ_Handler, 10U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
rtc_wakeup_init();
|
||||
|
||||
// STOP mode
|
||||
SCB->SCR |= SCB_SCR_SLEEPDEEP_Msk;
|
||||
}
|
||||
__WFI();
|
||||
SCB->SCR &= ~SCB_SCR_SLEEPDEEP_Msk;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -23,6 +23,9 @@ bool heartbeat_disabled = false; // set over USB
|
|||
bool heartbeat_engaged = false; // openpilot enabled, passed in heartbeat USB command
|
||||
uint32_t heartbeat_engaged_mismatches = 0; // count of mismatches between heartbeat_engaged and controls_allowed
|
||||
|
||||
// Enter deep sleep mode
|
||||
bool deepsleep_requested = false;
|
||||
|
||||
// siren state
|
||||
bool siren_enabled = false;
|
||||
uint32_t siren_countdown = 0; // siren plays while countdown > 0
|
||||
|
|
|
|||
|
|
@ -204,7 +204,7 @@ bool addr_safety_check(CANPacket_t *to_push,
|
|||
|
||||
void generic_rx_checks(bool stock_ecu_detected) {
|
||||
// exit controls on rising edge of gas press
|
||||
if (gas_pressed && !gas_pressed_prev && !(unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS)) {
|
||||
if (gas_pressed && !gas_pressed_prev && !(alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
|
|
@ -274,6 +274,7 @@ int set_safety_hooks(uint16_t mode, int16_t param) {
|
|||
vehicle_speed = 0;
|
||||
vehicle_moving = false;
|
||||
acc_main_on = false;
|
||||
cruise_button_prev = 0;
|
||||
desired_torque_last = 0;
|
||||
rt_torque_last = 0;
|
||||
ts_angle_last = 0;
|
||||
|
|
|
|||
|
|
@ -12,7 +12,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
|||
|
||||
int addr = GET_ADDR(to_push);
|
||||
int bus = GET_BUS(to_push);
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
|
||||
|
||||
if (addr == 0x217) {
|
||||
// wheel speeds are 14 bits every 16
|
||||
|
|
@ -47,7 +47,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
|
|||
// exit controls on rising edge of gas press
|
||||
if (addr == 0x204) {
|
||||
gas_pressed = ((GET_BYTE(to_push, 0) & 0x03U) | GET_BYTE(to_push, 1)) != 0U;
|
||||
if (!unsafe_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
if (!alt_exp_allow_gas && gas_pressed && !gas_pressed_prev) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
gas_pressed_prev = gas_pressed;
|
||||
|
|
@ -73,8 +73,8 @@ static int ford_tx_hook(CANPacket_t *to_send) {
|
|||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!alt_exp_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev;
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
|
|
|||
|
|
@ -34,6 +34,14 @@ AddrCheckStruct gm_addr_checks[] = {
|
|||
#define GM_RX_CHECK_LEN (sizeof(gm_addr_checks) / sizeof(gm_addr_checks[0]))
|
||||
addr_checks gm_rx_checks = {gm_addr_checks, GM_RX_CHECK_LEN};
|
||||
|
||||
|
||||
enum {
|
||||
GM_BTN_UNPRESS = 1,
|
||||
GM_BTN_RESUME = 2,
|
||||
GM_BTN_SET = 3,
|
||||
GM_BTN_CANCEL = 6,
|
||||
};
|
||||
|
||||
static int gm_rx_hook(CANPacket_t *to_push) {
|
||||
|
||||
bool valid = addr_safety_check(to_push, &gm_rx_checks, NULL, NULL, NULL);
|
||||
|
|
@ -57,17 +65,20 @@ static int gm_rx_hook(CANPacket_t *to_push) {
|
|||
// ACC steering wheel buttons
|
||||
if (addr == 481) {
|
||||
int button = (GET_BYTE(to_push, 5) & 0x70U) >> 4;
|
||||
switch (button) {
|
||||
case 2: // resume
|
||||
case 3: // set
|
||||
controls_allowed = 1;
|
||||
break;
|
||||
case 6: // cancel
|
||||
controls_allowed = 0;
|
||||
break;
|
||||
default:
|
||||
break; // any other button is irrelevant
|
||||
|
||||
// exit controls on cancel press
|
||||
if (button == GM_BTN_CANCEL) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
// enter controls on falling edge of set or resume
|
||||
bool set = (button == GM_BTN_UNPRESS) && (cruise_button_prev == GM_BTN_SET);
|
||||
bool res = (button == GM_BTN_UNPRESS) && (cruise_button_prev == GM_BTN_RESUME);
|
||||
if (set || res) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
|
||||
if (addr == 201) {
|
||||
|
|
@ -113,8 +124,8 @@ static int gm_tx_hook(CANPacket_t *to_send) {
|
|||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!alt_exp_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev;
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !pedal_pressed;
|
||||
|
|
|
|||
|
|
@ -55,6 +55,14 @@ const uint16_t HONDA_PARAM_ALT_BRAKE = 1;
|
|||
const uint16_t HONDA_PARAM_BOSCH_LONG = 2;
|
||||
const uint16_t HONDA_PARAM_NIDEC_ALT = 4;
|
||||
|
||||
enum {
|
||||
HONDA_BTN_NONE = 0,
|
||||
HONDA_BTN_MAIN = 1,
|
||||
HONDA_BTN_CANCEL = 2,
|
||||
HONDA_BTN_SET = 3,
|
||||
HONDA_BTN_RESUME = 4,
|
||||
};
|
||||
|
||||
int honda_brake = 0;
|
||||
bool honda_brake_switch_prev = false;
|
||||
bool honda_alt_brake_msg = false;
|
||||
|
|
@ -96,9 +104,8 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
bool valid = addr_safety_check(to_push, &honda_rx_checks,
|
||||
honda_get_checksum, honda_compute_checksum, honda_get_counter);
|
||||
|
||||
// TODO: add back Honda Nidec once we handle it properly in openpilot
|
||||
//const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || ((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
|
||||
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long);
|
||||
const bool pcm_cruise = ((honda_hw == HONDA_BOSCH) && !honda_bosch_long) || \
|
||||
((honda_hw == HONDA_NIDEC) && !gas_interceptor_detected);
|
||||
|
||||
if (valid) {
|
||||
int addr = GET_ADDR(to_push);
|
||||
|
|
@ -123,34 +130,36 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
// enter controls when PCM enters cruise state
|
||||
if (pcm_cruise && (addr == 0x17C)) {
|
||||
const bool cruise_engaged = GET_BIT(to_push, 38U) != 0U;
|
||||
if (!cruise_engaged) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
// engage on rising edge
|
||||
if (cruise_engaged && !cruise_engaged_prev) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
||||
// Since some Nidec cars can brake down to 0 after the PCM disengages,
|
||||
// we don't disengage when the PCM does.
|
||||
if (!cruise_engaged && (honda_hw != HONDA_NIDEC)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
cruise_engaged_prev = cruise_engaged;
|
||||
}
|
||||
|
||||
// state machine to enter and exit controls for button enabling
|
||||
// 0x1A6 for the ILX, 0x296 for the Civic Touring
|
||||
if (!pcm_cruise && ((addr == 0x1A6) || (addr == 0x296))) {
|
||||
// check for button presses
|
||||
if (((addr == 0x1A6) || (addr == 0x296))) {
|
||||
int button = (GET_BYTE(to_push, 0) & 0xE0U) >> 5;
|
||||
switch (button) {
|
||||
case 1: // main
|
||||
case 2: // cancel
|
||||
controls_allowed = 0;
|
||||
break;
|
||||
case 3: // set
|
||||
case 4: // resume
|
||||
if (acc_main_on) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break; // any other button is irrelevant
|
||||
|
||||
// exit controls once main or cancel are pressed
|
||||
if ((button == HONDA_BTN_MAIN) || (button == HONDA_BTN_CANCEL)) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
// enter controls on the falling edge of set or resume
|
||||
bool set = (button == HONDA_BTN_NONE) && (cruise_button_prev == HONDA_BTN_SET);
|
||||
bool res = (button == HONDA_BTN_NONE) && (cruise_button_prev == HONDA_BTN_RESUME);
|
||||
if (acc_main_on && !pcm_cruise && (set || res)) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
|
||||
// user brake signal on 0x17C reports applied brake from computer brake on accord
|
||||
|
|
@ -186,8 +195,8 @@ static int honda_rx_hook(CANPacket_t *to_push) {
|
|||
}
|
||||
}
|
||||
|
||||
// disable stock Honda AEB in unsafe mode
|
||||
if (!(unsafe_mode & UNSAFE_DISABLE_STOCK_AEB)) {
|
||||
// disable stock Honda AEB in alternative experience
|
||||
if (!(alternative_experience & ALT_EXP_DISABLE_STOCK_AEB)) {
|
||||
if ((bus == 2) && (addr == 0x1FA)) {
|
||||
bool honda_stock_aeb = GET_BYTE(to_push, 3) & 0x20U;
|
||||
int honda_stock_brake = (GET_BYTE(to_push, 0) << 2) + ((GET_BYTE(to_push, 1) >> 6) & 0x3U);
|
||||
|
|
@ -251,8 +260,8 @@ static int honda_tx_hook(CANPacket_t *to_send) {
|
|||
// disallow actuator commands if gas or brake (with vehicle moving) are pressed
|
||||
// and the the latching controls_allowed flag is True
|
||||
int pedal_pressed = brake_pressed_prev && vehicle_moving;
|
||||
bool unsafe_allow_gas = unsafe_mode & UNSAFE_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!unsafe_allow_gas) {
|
||||
bool alt_exp_allow_gas = alternative_experience & ALT_EXP_DISABLE_DISENGAGE_ON_GAS;
|
||||
if (!alt_exp_allow_gas) {
|
||||
pedal_pressed = pedal_pressed || gas_pressed_prev;
|
||||
}
|
||||
bool current_controls_allowed = controls_allowed && !(pedal_pressed);
|
||||
|
|
|
|||
|
|
@ -62,6 +62,13 @@ const int HYUNDAI_PARAM_EV_GAS = 1;
|
|||
const int HYUNDAI_PARAM_HYBRID_GAS = 2;
|
||||
const int HYUNDAI_PARAM_LONGITUDINAL = 4;
|
||||
|
||||
enum {
|
||||
HYUNDAI_BTN_NONE = 0,
|
||||
HYUNDAI_BTN_RESUME = 1,
|
||||
HYUNDAI_BTN_SET = 2,
|
||||
HYUNDAI_BTN_CANCEL = 4,
|
||||
};
|
||||
|
||||
bool hyundai_legacy = false;
|
||||
bool hyundai_ev_gas_signal = false;
|
||||
bool hyundai_hybrid_gas_signal = false;
|
||||
|
|
@ -162,17 +169,20 @@ static int hyundai_rx_hook(CANPacket_t *to_push) {
|
|||
// ACC steering wheel buttons
|
||||
if (addr == 1265) {
|
||||
int button = GET_BYTE(to_push, 0) & 0x7U;
|
||||
switch (button) {
|
||||
case 1: // resume
|
||||
case 2: // set
|
||||
controls_allowed = 1;
|
||||
break;
|
||||
case 4: // cancel
|
||||
controls_allowed = 0;
|
||||
break;
|
||||
default:
|
||||
break; // any other button is irrelevant
|
||||
|
||||
// exit controls on cancel press
|
||||
if (button == HYUNDAI_BTN_CANCEL) {
|
||||
controls_allowed = 0;
|
||||
}
|
||||
|
||||
// enter controls on falling edge of resume or set
|
||||
bool set = (button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_SET);
|
||||
bool res = (button == HYUNDAI_BTN_NONE) && (cruise_button_prev == HYUNDAI_BTN_RESUME);
|
||||
if (set || res) {
|
||||
controls_allowed = 1;
|
||||
}
|
||||
|
||||
cruise_button_prev = button;
|
||||
}
|
||||
} else {
|
||||
// enter controls on rising edge of ACC, exit controls on ACC off
|
||||
|
|
@ -324,16 +334,17 @@ static int hyundai_tx_hook(CANPacket_t *to_send) {
|
|||
}
|
||||
}
|
||||
|
||||
// FORCE CANCEL: safety check only relevant when spamming the cancel button.
|
||||
// ensuring that only the cancel button press is sent (VAL 4) when controls are off.
|
||||
// This avoids unintended engagements while still allowing resume spam
|
||||
if ((addr == 1265) && !controls_allowed) {
|
||||
if ((GET_BYTES_04(to_send) & 0x7U) != 4U) {
|
||||
// BUTTONS: used for resume spamming and cruise cancellation
|
||||
if ((addr == 1265) && !hyundai_longitudinal) {
|
||||
int button = GET_BYTE(to_send, 0) & 0x7U;
|
||||
|
||||
bool allowed_resume = (button == 1) && controls_allowed;
|
||||
bool allowed_cancel = (button == 4) && cruise_engaged_prev;
|
||||
if (!(allowed_resume || allowed_cancel)) {
|
||||
tx = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// 1 allows the message through
|
||||
return tx;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -158,7 +158,6 @@ static int nissan_tx_hook(CANPacket_t *to_send) {
|
|||
}
|
||||
|
||||
if (violation) {
|
||||
controls_allowed = 0;
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -162,10 +162,10 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
|
|||
}
|
||||
}
|
||||
|
||||
if(!tesla_powertrain && (addr == 0x45)) {
|
||||
if (!tesla_powertrain && (addr == 0x45)) {
|
||||
// No button other than cancel can be sent by us
|
||||
int control_lever_status = (GET_BYTE(to_send, 0) & 0x3FU);
|
||||
if((control_lever_status != 0) && (control_lever_status != 1)) {
|
||||
if (control_lever_status != 1) {
|
||||
violation = true;
|
||||
}
|
||||
}
|
||||
|
|
@ -197,8 +197,7 @@ static int tesla_tx_hook(CANPacket_t *to_send) {
|
|||
}
|
||||
}
|
||||
|
||||
if(violation) {
|
||||
controls_allowed = 0;
|
||||
if (violation) {
|
||||
tx = 0;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -2,14 +2,14 @@
|
|||
const int TOYOTA_MAX_TORQUE = 1500; // max torque cmd allowed ever
|
||||
|
||||
// rate based torque limit + stay within actually applied
|
||||
// packet is sent at 100hz, so this limit is 1000/sec
|
||||
const int TOYOTA_MAX_RATE_UP = 10; // ramp up slow
|
||||
// packet is sent at 100hz, so this limit is 1500/sec
|
||||
const int TOYOTA_MAX_RATE_UP = 15; // ramp up slow
|
||||
const int TOYOTA_MAX_RATE_DOWN = 25; // ramp down fast
|
||||
const int TOYOTA_MAX_TORQUE_ERROR = 350; // max torque cmd in excess of torque motor
|
||||
|
||||
// real time torque limit to prevent controls spamming
|
||||
// the real time limit is 1500/sec
|
||||
const int TOYOTA_MAX_RT_DELTA = 375; // max delta torque allowed for real time checks
|
||||
// the real time limit is 1800/sec, a 20% buffer
|
||||
const int TOYOTA_MAX_RT_DELTA = 450; // max delta torque allowed for real time checks
|
||||
const uint32_t TOYOTA_RT_INTERVAL = 250000; // 250ms between real time checks
|
||||
|
||||
// longitudinal limits
|
||||
|
|
|
|||
|
|
@ -112,6 +112,7 @@ bool cruise_engaged_prev = false;
|
|||
float vehicle_speed = 0;
|
||||
bool vehicle_moving = false;
|
||||
bool acc_main_on = false; // referred to as "ACC off" in ISO 15622:2018
|
||||
int cruise_button_prev = 0;
|
||||
|
||||
// for safety modes with torque steering control
|
||||
int desired_torque_last = 0; // last desired steer torque
|
||||
|
|
@ -126,23 +127,21 @@ int desired_angle_last = 0;
|
|||
struct sample_t angle_meas; // last 3 steer angles
|
||||
|
||||
// This can be set with a USB command
|
||||
// It enables features we consider to be unsafe, but understand others may have different opinions
|
||||
// It is always 0 on mainline comma.ai openpilot
|
||||
// It enables features that allow alternative experiences, like not disengaging on gas press
|
||||
// It is only either 0 or 1 on mainline comma.ai openpilot
|
||||
|
||||
// If using this flag, be very careful about what happens if your fork wants to brake while the
|
||||
// user is pressing the gas. Tesla is careful with this.
|
||||
#define UNSAFE_DISABLE_DISENGAGE_ON_GAS 1
|
||||
#define ALT_EXP_DISABLE_DISENGAGE_ON_GAS 1
|
||||
|
||||
// If using this flag, make sure to communicate to your users that a stock safety feature is now disabled.
|
||||
#define UNSAFE_DISABLE_STOCK_AEB 2
|
||||
#define ALT_EXP_DISABLE_STOCK_AEB 2
|
||||
|
||||
// If using this flag, be aware that harder braking is more likely to lead to rear endings,
|
||||
// and that alone this flag doesn't make braking compliant because there's also a time element.
|
||||
// Setting this flag is used for allowing the full -5.0 to +4.0 m/s^2 at lower speeds
|
||||
// See ISO 15622:2018 for more information.
|
||||
#define UNSAFE_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
|
||||
#define ALT_EXP_RAISE_LONGITUDINAL_LIMITS_TO_ISO_MAX 8
|
||||
|
||||
int unsafe_mode = 0;
|
||||
int alternative_experience = 0;
|
||||
|
||||
// time since safety mode has been changed
|
||||
uint32_t safety_mode_cnt = 0U;
|
||||
|
|
|
|||
|
|
@ -0,0 +1,56 @@
|
|||
void EXTI_IRQ_Handler(void);
|
||||
|
||||
void exti_irq_init(void) {
|
||||
SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI8_Msk);
|
||||
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
|
||||
// CAN2_RX
|
||||
current_board->enable_can_transceiver(3U, false);
|
||||
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PA);
|
||||
|
||||
// IRQ on falling edge for PC3 (SBU2, EXTI3)
|
||||
SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI3_Msk);
|
||||
SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI3_PC);
|
||||
EXTI->IMR |= EXTI_IMR_MR3;
|
||||
EXTI->RTSR &= ~EXTI_RTSR_TR3; // rising edge
|
||||
EXTI->FTSR |= EXTI_FTSR_TR3; // falling edge
|
||||
REGISTER_INTERRUPT(EXTI3_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI3_IRQn);
|
||||
} else {
|
||||
// CAN0_RX
|
||||
current_board->enable_can_transceiver(1U, false);
|
||||
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PB);
|
||||
|
||||
// IRQ on falling edge for PC0 (SBU1, EXTI0)
|
||||
SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI0_Msk);
|
||||
SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI0_PC);
|
||||
EXTI->IMR |= EXTI_IMR_MR0;
|
||||
EXTI->RTSR &= ~EXTI_RTSR_TR0; // rising edge
|
||||
EXTI->FTSR |= EXTI_FTSR_TR0; // falling edge
|
||||
REGISTER_INTERRUPT(EXTI0_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI0_IRQn);
|
||||
}
|
||||
// CAN0 or CAN2 IRQ on falling edge (EXTI8)
|
||||
EXTI->IMR |= EXTI_IMR_MR8;
|
||||
EXTI->RTSR &= ~EXTI_RTSR_TR8; // rising edge
|
||||
EXTI->FTSR |= EXTI_FTSR_TR8; // falling edge
|
||||
REGISTER_INTERRUPT(EXTI9_5_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI9_5_IRQn);
|
||||
}
|
||||
|
||||
bool check_exti_irq(void) {
|
||||
return ((EXTI->PR & EXTI_PR_PR8) || (EXTI->PR & EXTI_PR_PR3) || (EXTI->PR & EXTI_PR_PR0));
|
||||
}
|
||||
|
||||
void exti_irq_clear(void) {
|
||||
// Clear pending bits
|
||||
EXTI->PR |= EXTI_PR_PR8;
|
||||
EXTI->PR |= EXTI_PR_PR0;
|
||||
EXTI->PR |= EXTI_PR_PR3;
|
||||
EXTI->PR |= EXTI_PR_PR22;
|
||||
|
||||
// Disable all active EXTI IRQs
|
||||
EXTI->IMR &= ~EXTI_IMR_MR8;
|
||||
EXTI->IMR &= ~EXTI_IMR_MR0;
|
||||
EXTI->IMR &= ~EXTI_IMR_MR3;
|
||||
EXTI->IMR &= ~EXTI_IMR_MR22;
|
||||
}
|
||||
|
|
@ -8,3 +8,33 @@ void enable_bdomain_protection(void) {
|
|||
void disable_bdomain_protection(void) {
|
||||
register_set_bits(&(PWR->CR), PWR_CR_DBP);
|
||||
}
|
||||
|
||||
void rtc_wakeup_init(void) {
|
||||
EXTI->IMR |= EXTI_IMR_MR22;
|
||||
EXTI->RTSR |= EXTI_RTSR_TR22; // rising edge
|
||||
EXTI->FTSR &= ~EXTI_FTSR_TR22; // falling edge
|
||||
|
||||
NVIC_DisableIRQ(RTC_WKUP_IRQn);
|
||||
|
||||
// Disable write protection
|
||||
disable_bdomain_protection();
|
||||
RTC->WPR = 0xCA;
|
||||
RTC->WPR = 0x53;
|
||||
|
||||
RTC->CR &= ~RTC_CR_WUTE;
|
||||
while((RTC->ISR & RTC_ISR_WUTWF) == 0){}
|
||||
|
||||
RTC->CR &= ~RTC_CR_WUTIE;
|
||||
RTC->ISR &= ~RTC_ISR_WUTF;
|
||||
//PWR->CR |= PWR_CR_CWUF;
|
||||
|
||||
RTC->WUTR = DEEPSLEEP_WAKEUP_DELAY;
|
||||
// Wakeup timer interrupt enable, wakeup timer enable, select 1Hz rate
|
||||
RTC->CR |= RTC_CR_WUTE | RTC_CR_WUTIE | RTC_CR_WUCKSEL_2;
|
||||
|
||||
// Re-enable write protection
|
||||
RTC->WPR = 0x00;
|
||||
enable_bdomain_protection();
|
||||
|
||||
NVIC_EnableIRQ(RTC_WKUP_IRQn);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -69,6 +69,10 @@
|
|||
#include "stm32fx/lluart.h"
|
||||
#endif
|
||||
|
||||
#if !defined(PEDAL_USB) && !defined(PEDAL) && !defined(BOOTSTUB)
|
||||
#include "stm32fx/llexti.h"
|
||||
#endif
|
||||
|
||||
#ifdef BOOTSTUB
|
||||
#include "stm32fx/llflash.h"
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -0,0 +1,63 @@
|
|||
void EXTI_IRQ_Handler(void);
|
||||
|
||||
void exti_irq_init(void) {
|
||||
if (car_harness_status == HARNESS_STATUS_FLIPPED) {
|
||||
// CAN2_RX IRQ on falling edge (EXTI10)
|
||||
current_board->enable_can_transceiver(3U, false);
|
||||
SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI10_Msk);
|
||||
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI10_PG);
|
||||
EXTI->IMR1 |= EXTI_IMR1_IM10;
|
||||
EXTI->RTSR1 &= ~EXTI_RTSR1_TR10; // rising edge
|
||||
EXTI->FTSR1 |= EXTI_FTSR1_TR10; // falling edge
|
||||
|
||||
// IRQ on falling edge for PA1 (SBU2, EXTI1)
|
||||
SYSCFG->EXTICR[0] &= ~(SYSCFG_EXTICR1_EXTI1_Msk);
|
||||
SYSCFG->EXTICR[0] |= (SYSCFG_EXTICR1_EXTI1_PA);
|
||||
EXTI->IMR1 |= EXTI_IMR1_IM1;
|
||||
EXTI->RTSR1 &= ~EXTI_RTSR1_TR1; // rising edge
|
||||
EXTI->FTSR1 |= EXTI_FTSR1_TR1; // falling edge
|
||||
REGISTER_INTERRUPT(EXTI1_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI1_IRQn);
|
||||
REGISTER_INTERRUPT(EXTI15_10_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI15_10_IRQn);
|
||||
} else {
|
||||
// CAN0_RX IRQ on falling edge (EXTI8)
|
||||
current_board->enable_can_transceiver(1U, false);
|
||||
SYSCFG->EXTICR[2] &= ~(SYSCFG_EXTICR3_EXTI8_Msk);
|
||||
SYSCFG->EXTICR[2] |= (SYSCFG_EXTICR3_EXTI8_PB);
|
||||
EXTI->IMR1 |= EXTI_IMR1_IM8;
|
||||
EXTI->RTSR1 &= ~EXTI_RTSR1_TR8; // rising edge
|
||||
EXTI->FTSR1 |= EXTI_FTSR1_TR8; // falling edge
|
||||
|
||||
// IRQ on falling edge for PC4 (SBU1, EXTI4)
|
||||
SYSCFG->EXTICR[1] &= ~(SYSCFG_EXTICR2_EXTI4_Msk);
|
||||
SYSCFG->EXTICR[1] |= (SYSCFG_EXTICR2_EXTI4_PC);
|
||||
EXTI->IMR1 |= EXTI_IMR1_IM4;
|
||||
EXTI->RTSR1 &= ~EXTI_RTSR1_TR4; // rising edge
|
||||
EXTI->FTSR1 |= EXTI_FTSR1_TR4; // falling edge
|
||||
REGISTER_INTERRUPT(EXTI4_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI4_IRQn);
|
||||
REGISTER_INTERRUPT(EXTI9_5_IRQn, EXTI_IRQ_Handler, 100U, FAULT_INTERRUPT_RATE_EXTI)
|
||||
NVIC_EnableIRQ(EXTI9_5_IRQn);
|
||||
}
|
||||
}
|
||||
|
||||
bool check_exti_irq(void) {
|
||||
return ((EXTI->PR1 & EXTI_PR1_PR8) || (EXTI->PR1 & EXTI_PR1_PR10) || (EXTI->PR1 & EXTI_PR1_PR1) || (EXTI->PR1 & EXTI_PR1_PR4));
|
||||
}
|
||||
|
||||
void exti_irq_clear(void) {
|
||||
// Clear pending bits
|
||||
EXTI->PR1 |= EXTI_PR1_PR8;
|
||||
EXTI->PR1 |= EXTI_PR1_PR10;
|
||||
EXTI->PR1 |= EXTI_PR1_PR4;
|
||||
EXTI->PR1 |= EXTI_PR1_PR1; // works
|
||||
EXTI->PR1 |= EXTI_PR1_PR19; // works
|
||||
|
||||
// Disable all active EXTI IRQs
|
||||
EXTI->IMR1 &= ~EXTI_IMR1_IM8;
|
||||
EXTI->IMR1 &= ~EXTI_IMR1_IM10;
|
||||
EXTI->IMR1 &= ~EXTI_IMR1_IM4;
|
||||
EXTI->IMR1 &= ~EXTI_IMR1_IM1;
|
||||
EXTI->IMR1 &= ~EXTI_IMR1_IM19;
|
||||
}
|
||||
|
|
@ -1,19 +1,22 @@
|
|||
// SAE J2284-4 document specifies a bus-line network running at 2 Mbit/s
|
||||
// SAE J2284-5 document specifies a point-to-point communication running at 5 Mbit/s
|
||||
|
||||
#define CAN_PCLK 80000U // KHz, sourced from PLL1Q
|
||||
#define BITRATE_PRESCALER 2U // Valid from 250Kbps to 5Mbps with 80Mhz clock
|
||||
#define CAN_SP_NOMINAL 80U // 80% for both SAE J2284-4 and SAE J2284-5
|
||||
#define CAN_SP_DATA_2M 80U // 80% for SAE J2284-4
|
||||
#define CAN_SP_DATA_5M 75U // 75% for SAE J2284-5
|
||||
#define CAN_QUANTA(speed, prescaler) (CAN_PCLK / ((speed) / 10U * (prescaler)))
|
||||
#define CAN_SEG1(tq, sp) (((tq) * (sp) / 100U)- 1U)
|
||||
#define CAN_SEG2(tq, sp) ((tq) * (100U - (sp)) / 100U)
|
||||
|
||||
// FDCAN core settings
|
||||
#define FDCAN_MESSAGE_RAM_SIZE 0x2800UL
|
||||
#define FDCAN_START_ADDRESS 0x4000AC00UL
|
||||
#define FDCAN_OFFSET 3412UL // bytes for each FDCAN module
|
||||
#define FDCAN_OFFSET_W 853UL // words for each FDCAN module
|
||||
#define FDCAN_END_ADDRESS 0x4000D3FCUL // Message RAM has a width of 4 Bytes
|
||||
|
||||
// With this settings we can go up to 5Mbit/s
|
||||
#define CAN_SYNC_JW 1U // 1 to 4
|
||||
#define CAN_PHASE_SEG1 6U // =(PROP_SEG + PHASE_SEG1) , 1 to 16
|
||||
#define CAN_PHASE_SEG2 1U // 1 to 8
|
||||
#define CAN_PCLK 80000U // Sourced from PLL1Q
|
||||
#define CAN_QUANTA (1U + CAN_PHASE_SEG1 + CAN_PHASE_SEG2)
|
||||
// Valid speeds in kbps and their prescalers:
|
||||
// 10=1000, 20=500, 50=200, 83.333=120, 100=100, 125=80, 250=40, 500=20, 1000=10, 2000=5, 5000=2
|
||||
#define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
|
||||
|
||||
// RX FIFO 0
|
||||
#define FDCAN_RX_FIFO_0_EL_CNT 24UL
|
||||
#define FDCAN_RX_FIFO_0_HEAD_SIZE 8UL // bytes
|
||||
|
|
@ -77,6 +80,7 @@ bool fdcan_exit_init(FDCAN_GlobalTypeDef *CANx) {
|
|||
}
|
||||
|
||||
bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_speed, bool loopback, bool silent) {
|
||||
UNUSED(speed);
|
||||
bool ret = fdcan_request_init(CANx);
|
||||
|
||||
if (ret) {
|
||||
|
|
@ -89,10 +93,38 @@ bool llcan_set_speed(FDCAN_GlobalTypeDef *CANx, uint32_t speed, uint32_t data_sp
|
|||
CANx->CCCR &= ~(FDCAN_CCCR_MON);
|
||||
CANx->CCCR &= ~(FDCAN_CCCR_ASM);
|
||||
|
||||
// Set the nominal bit timing register
|
||||
CANx->NBTP = ((CAN_SYNC_JW-1U)<<FDCAN_NBTP_NSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_NBTP_NTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_NBTP_NTSEG2_Pos) | ((can_speed_to_prescaler(speed)-1U)<<FDCAN_NBTP_NBRP_Pos);
|
||||
// Set the data bit timing register
|
||||
CANx->DBTP = ((CAN_SYNC_JW-1U)<<FDCAN_DBTP_DSJW_Pos) | ((CAN_PHASE_SEG1-1U)<<FDCAN_DBTP_DTSEG1_Pos) | ((CAN_PHASE_SEG2-1U)<<FDCAN_DBTP_DTSEG2_Pos) | ((can_speed_to_prescaler(data_speed)-1U)<<FDCAN_DBTP_DBRP_Pos);
|
||||
// TODO: add as a separate safety mode
|
||||
// Enable ASM restricted operation(for debug or automatic bitrate switching)
|
||||
//CANx->CCCR |= FDCAN_CCCR_ASM;
|
||||
|
||||
uint8_t prescaler = BITRATE_PRESCALER;
|
||||
if (speed < 2500U) {
|
||||
// The only way to support speeds lower than 250Kbit/s (down to 10Kbit/s)
|
||||
prescaler = BITRATE_PRESCALER * 16U;
|
||||
}
|
||||
|
||||
// Set the nominal bit timing values
|
||||
uint16_t tq = CAN_QUANTA(speed, prescaler);
|
||||
uint8_t sp = CAN_SP_NOMINAL;
|
||||
uint8_t seg1 = CAN_SEG1(tq, sp);
|
||||
uint8_t seg2 = CAN_SEG2(tq, sp);
|
||||
uint8_t sjw = seg2;
|
||||
|
||||
CANx->NBTP = (((sjw & 0x7FU)-1U)<<FDCAN_NBTP_NSJW_Pos) | (((seg1 & 0xFFU)-1U)<<FDCAN_NBTP_NTSEG1_Pos) | (((seg2 & 0x7FU)-1U)<<FDCAN_NBTP_NTSEG2_Pos) | (((prescaler & 0x1FFU)-1U)<<FDCAN_NBTP_NBRP_Pos);
|
||||
|
||||
// Set the data bit timing values
|
||||
if (data_speed == 50000U) {
|
||||
sp = CAN_SP_DATA_5M;
|
||||
} else {
|
||||
sp = CAN_SP_DATA_2M;
|
||||
}
|
||||
tq = CAN_QUANTA(data_speed, prescaler);
|
||||
seg1 = CAN_SEG1(tq, sp);
|
||||
seg2 = CAN_SEG2(tq, sp);
|
||||
sjw = seg2;
|
||||
|
||||
CANx->DBTP = (((sjw & 0xFU)-1U)<<FDCAN_DBTP_DSJW_Pos) | (((seg1 & 0x1FU)-1U)<<FDCAN_DBTP_DTSEG1_Pos) | (((seg2 & 0xFU)-1U)<<FDCAN_DBTP_DTSEG2_Pos) | (((prescaler & 0x1FU)-1U)<<FDCAN_DBTP_DBRP_Pos);
|
||||
|
||||
// Silent loopback is known as internal loopback in the docs
|
||||
if (loopback) {
|
||||
CANx->CCCR |= FDCAN_CCCR_TEST;
|
||||
|
|
@ -172,7 +204,7 @@ bool llcan_init(FDCAN_GlobalTypeDef *CANx) {
|
|||
// Messages for INT1 (Only TFE works??)
|
||||
CANx->ILS |= FDCAN_ILS_TFEL;
|
||||
CANx->IE |= FDCAN_IE_TFEE; // Tx FIFO empty
|
||||
|
||||
|
||||
ret = fdcan_exit_init(CANx);
|
||||
if(!ret) {
|
||||
puts(CAN_NAME_FROM_CANIF(CANx)); puts(" llcan_init timed out (2)!\n");
|
||||
|
|
|
|||
|
|
@ -8,3 +8,33 @@ void enable_bdomain_protection(void) {
|
|||
void disable_bdomain_protection(void) {
|
||||
register_set_bits(&(PWR->CR1), PWR_CR1_DBP);
|
||||
}
|
||||
|
||||
void rtc_wakeup_init(void) {
|
||||
EXTI->IMR1 |= EXTI_IMR1_IM19;
|
||||
EXTI->RTSR1 |= EXTI_RTSR1_TR19; // rising edge
|
||||
EXTI->FTSR1 &= ~EXTI_FTSR1_TR19; // falling edge
|
||||
|
||||
NVIC_DisableIRQ(RTC_WKUP_IRQn);
|
||||
|
||||
// Disable write protection
|
||||
disable_bdomain_protection();
|
||||
RTC->WPR = 0xCA;
|
||||
RTC->WPR = 0x53;
|
||||
|
||||
RTC->CR &= ~RTC_CR_WUTE;
|
||||
while((RTC->ISR & RTC_ISR_WUTWF) == 0){}
|
||||
|
||||
RTC->CR &= ~RTC_CR_WUTIE;
|
||||
RTC->ISR &= ~RTC_ISR_WUTF;
|
||||
//PWR->CR1 |= PWR_CR1_CWUF;
|
||||
|
||||
RTC->WUTR = DEEPSLEEP_WAKEUP_DELAY;
|
||||
// Wakeup timer interrupt enable, wakeup timer enable, select 1Hz rate
|
||||
RTC->CR |= RTC_CR_WUTE | RTC_CR_WUTIE | RTC_CR_WUCKSEL_2;
|
||||
|
||||
// Re-enable write protection
|
||||
RTC->WPR = 0x00;
|
||||
enable_bdomain_protection();
|
||||
|
||||
NVIC_EnableIRQ(RTC_WKUP_IRQn);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -59,6 +59,7 @@
|
|||
#if !defined(BOOTSTUB) && defined(PANDA)
|
||||
#include "drivers/uart.h"
|
||||
#include "stm32h7/lluart.h"
|
||||
#include "stm32h7/llexti.h"
|
||||
#endif
|
||||
|
||||
#ifdef BOOTSTUB
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@ int get_health_pkt(void *dat) {
|
|||
health->usb_power_mode_pkt = usb_power_mode;
|
||||
health->safety_mode_pkt = (uint8_t)(current_safety_mode);
|
||||
health->safety_param_pkt = current_safety_param;
|
||||
health->unsafe_mode_pkt = unsafe_mode;
|
||||
health->alternative_experience_pkt = alternative_experience;
|
||||
health->power_save_enabled_pkt = (uint8_t)(power_save_status == POWER_SAVE_STATUS_ENABLED);
|
||||
health->heartbeat_lost_pkt = (uint8_t)(heartbeat_lost);
|
||||
health->blocked_msg_cnt_pkt = blocked_msg_cnt;
|
||||
|
|
@ -288,11 +288,11 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
|
|||
UNUSED(ret);
|
||||
}
|
||||
break;
|
||||
// **** 0xdf: set unsafe mode
|
||||
// **** 0xdf: set alternative experience
|
||||
case 0xdf:
|
||||
// you can only set this if you are in a non car safety mode
|
||||
if (!is_car_safety_mode(current_safety_mode)) {
|
||||
unsafe_mode = setup->b.wValue.w;
|
||||
alternative_experience = setup->b.wValue.w;
|
||||
}
|
||||
break;
|
||||
// **** 0xe0: uart read
|
||||
|
|
@ -440,10 +440,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
|
|||
// **** 0xde: set CAN FD data bitrate
|
||||
case 0xf9:
|
||||
if (setup->b.wValue.w < CAN_CNT) {
|
||||
// TODO: add sanity check, ideally check if value is correct(from array of correct values)
|
||||
// TODO: add sanity check, ideally check if value is correct (from array of correct values)
|
||||
bus_config[setup->b.wValue.w].can_data_speed = setup->b.wIndex.w;
|
||||
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed) ? true : false;
|
||||
bus_config[setup->b.wValue.w].canfd_enabled = (setup->b.wIndex.w >= bus_config[setup->b.wValue.w].can_speed);
|
||||
bus_config[setup->b.wValue.w].brs_enabled = (setup->b.wIndex.w > bus_config[setup->b.wValue.w].can_speed);
|
||||
bool ret = can_init(CAN_NUM_FROM_BUS_NUM(setup->b.wValue.w));
|
||||
UNUSED(ret);
|
||||
}
|
||||
|
|
@ -456,6 +456,10 @@ int usb_cb_control_msg(USB_Setup_TypeDef *setup, uint8_t *resp) {
|
|||
resp_len = 2;
|
||||
}
|
||||
break;
|
||||
// **** 0xfb: enter deep sleep(stop) mode
|
||||
case 0xfb:
|
||||
deepsleep_requested = true;
|
||||
break;
|
||||
default:
|
||||
puts("NO HANDLER ");
|
||||
puth(setup->b.bRequest);
|
||||
|
|
|
|||
|
|
@ -160,12 +160,12 @@ class Panda(object):
|
|||
HW_TYPE_RED_PANDA = b'\x07'
|
||||
|
||||
CAN_PACKET_VERSION = 2
|
||||
HEALTH_PACKET_VERSION = 3
|
||||
HEALTH_PACKET_VERSION = 4
|
||||
HEALTH_STRUCT = struct.Struct("<IIIIIIIIBBBBBBBHBBBHI")
|
||||
|
||||
F2_DEVICES = [HW_TYPE_PEDAL]
|
||||
F4_DEVICES = [HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS]
|
||||
H7_DEVICES = [HW_TYPE_RED_PANDA]
|
||||
F2_DEVICES = (HW_TYPE_PEDAL, )
|
||||
F4_DEVICES = (HW_TYPE_WHITE_PANDA, HW_TYPE_GREY_PANDA, HW_TYPE_BLACK_PANDA, HW_TYPE_UNO, HW_TYPE_DOS)
|
||||
H7_DEVICES = (HW_TYPE_RED_PANDA, )
|
||||
|
||||
CLOCK_SOURCE_MODE_DISABLED = 0
|
||||
CLOCK_SOURCE_MODE_FREE_RUNNING = 1
|
||||
|
|
@ -375,7 +375,7 @@ class Panda(object):
|
|||
"fault_status": a[16],
|
||||
"power_save_enabled": a[17],
|
||||
"heartbeat_lost": a[18],
|
||||
"unsafe_mode": a[19],
|
||||
"alternative_experience": a[19],
|
||||
"blocked_msg_cnt": a[20],
|
||||
}
|
||||
|
||||
|
|
@ -448,7 +448,7 @@ class Panda(object):
|
|||
return (self.is_uno() or self.is_dos() or self.is_black() or self.is_red())
|
||||
|
||||
def has_canfd(self):
|
||||
return self._mcu_type in Panda.H7_DEVICES
|
||||
return self.get_type() in Panda.H7_DEVICES
|
||||
|
||||
def is_internal(self):
|
||||
return self.get_type() in [Panda.HW_TYPE_UNO, Panda.HW_TYPE_DOS]
|
||||
|
|
@ -473,6 +473,9 @@ class Panda(object):
|
|||
def set_power_save(self, power_save_enabled=0):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xe7, int(power_save_enabled), 0, b'')
|
||||
|
||||
def enable_deepsleep(self):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xfb, 0, 0, b'')
|
||||
|
||||
def set_esp_power(self, on):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xd9, int(on), 0, b'')
|
||||
|
||||
|
|
@ -480,8 +483,8 @@ class Panda(object):
|
|||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xda, int(bootmode), 0, b'')
|
||||
time.sleep(0.2)
|
||||
|
||||
def set_safety_mode(self, mode=SAFETY_SILENT, disable_checks=True):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, 0, b'')
|
||||
def set_safety_mode(self, mode=SAFETY_SILENT, param=0, disable_checks=True):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xdc, mode, param, b'')
|
||||
if disable_checks:
|
||||
self.set_heartbeat_disabled()
|
||||
self.set_power_save(0)
|
||||
|
|
@ -511,7 +514,7 @@ class Panda(object):
|
|||
def set_can_data_speed_kbps(self, bus, speed):
|
||||
self._handle.controlWrite(Panda.REQUEST_OUT, 0xf9, bus, int(speed * 10), b'')
|
||||
|
||||
# CAN FD and BRS status
|
||||
# CAN FD and BRS status
|
||||
def get_canfd_status(self, bus):
|
||||
dat = self._handle.controlRead(Panda.REQUEST_IN, 0xfa, bus, 0, 2)
|
||||
if dat:
|
||||
|
|
|
|||
|
|
@ -5,6 +5,9 @@
|
|||
"acados_include_path": [
|
||||
"str"
|
||||
],
|
||||
"cython_include_dirs": [
|
||||
"str"
|
||||
],
|
||||
"model": {
|
||||
"name" : [
|
||||
"str"
|
||||
|
|
@ -23,7 +26,15 @@
|
|||
],
|
||||
"dyn_disc_fun" : [
|
||||
"str"
|
||||
]
|
||||
],
|
||||
"gnsf" : {
|
||||
"nontrivial_f_LO": [
|
||||
"int"
|
||||
],
|
||||
"purely_linear": [
|
||||
"int"
|
||||
]
|
||||
}
|
||||
},
|
||||
"parameter_values": [
|
||||
"ndarray",
|
||||
|
|
@ -693,6 +704,18 @@
|
|||
"alpha_reduction": [
|
||||
"float"
|
||||
],
|
||||
"line_search_use_sufficient_descent": [
|
||||
"int"
|
||||
],
|
||||
"globalization_use_SOC": [
|
||||
"int"
|
||||
],
|
||||
"full_step_dual": [
|
||||
"int"
|
||||
],
|
||||
"eps_sufficient_descent": [
|
||||
"float"
|
||||
],
|
||||
"sim_method_num_stages": [
|
||||
"ndarray",
|
||||
[
|
||||
|
|
|
|||
|
|
@ -78,6 +78,13 @@ class AcadosModel():
|
|||
self.dyn_disc_fun_jac = None #: name of function discrete dyanamics + jacobian; Default: :code:`None`
|
||||
self.dyn_disc_fun = None #: name of function discrete dyanamics; Default: :code:`None`
|
||||
|
||||
# for GNSF models
|
||||
self.gnsf = {'nontrivial_f_LO': 1, 'purely_linear': 0}
|
||||
"""
|
||||
dictionary containing information on GNSF structure needed when rendering templates.
|
||||
Contains integers `nontrivial_f_LO`, `purely_linear`.
|
||||
"""
|
||||
|
||||
## for OCP
|
||||
# constraints
|
||||
self.con_h_expr = None #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
|
||||
|
|
|
|||
|
|
@ -270,28 +270,28 @@ class AcadosOcpDims:
|
|||
|
||||
@nx.setter
|
||||
def nx(self, nx):
|
||||
if type(nx) == int and nx > 0:
|
||||
if isinstance(nx, int) and nx > 0:
|
||||
self.__nx = nx
|
||||
else:
|
||||
raise Exception('Invalid nx value, expected positive integer. Exiting.')
|
||||
|
||||
@nz.setter
|
||||
def nz(self, nz):
|
||||
if type(nz) == int and nz > -1:
|
||||
if isinstance(nz, int) and nz > -1:
|
||||
self.__nz = nz
|
||||
else:
|
||||
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nu.setter
|
||||
def nu(self, nu):
|
||||
if type(nu) == int and nu > -1:
|
||||
if isinstance(nu, int) and nu > -1:
|
||||
self.__nu = nu
|
||||
else:
|
||||
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@np.setter
|
||||
def np(self, np):
|
||||
if type(np) == int and np > -1:
|
||||
if isinstance(np, int) and np > -1:
|
||||
self.__np = np
|
||||
else:
|
||||
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -312,49 +312,49 @@ class AcadosOcpDims:
|
|||
|
||||
@ny_e.setter
|
||||
def ny_e(self, ny_e):
|
||||
if type(ny_e) == int and ny_e > -1:
|
||||
if isinstance(ny_e, int) and ny_e > -1:
|
||||
self.__ny_e = ny_e
|
||||
else:
|
||||
raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nr.setter
|
||||
def nr(self, nr):
|
||||
if type(nr) == int and nr > -1:
|
||||
if isinstance(nr, int) and nr > -1:
|
||||
self.__nr = nr
|
||||
else:
|
||||
raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nr_e.setter
|
||||
def nr_e(self, nr_e):
|
||||
if type(nr_e) == int and nr_e > -1:
|
||||
if isinstance(nr_e, int) and nr_e > -1:
|
||||
self.__nr_e = nr_e
|
||||
else:
|
||||
raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nh.setter
|
||||
def nh(self, nh):
|
||||
if type(nh) == int and nh > -1:
|
||||
if isinstance(nh, int) and nh > -1:
|
||||
self.__nh = nh
|
||||
else:
|
||||
raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nh_e.setter
|
||||
def nh_e(self, nh_e):
|
||||
if type(nh_e) == int and nh_e > -1:
|
||||
if isinstance(nh_e, int) and nh_e > -1:
|
||||
self.__nh_e = nh_e
|
||||
else:
|
||||
raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nphi.setter
|
||||
def nphi(self, nphi):
|
||||
if type(nphi) == int and nphi > -1:
|
||||
if isinstance(nphi, int) and nphi > -1:
|
||||
self.__nphi = nphi
|
||||
else:
|
||||
raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nphi_e.setter
|
||||
def nphi_e(self, nphi_e):
|
||||
if type(nphi_e) == int and nphi_e > -1:
|
||||
if isinstance(nphi_e, int) and nphi_e > -1:
|
||||
self.__nphi_e = nphi_e
|
||||
else:
|
||||
raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -375,42 +375,42 @@ class AcadosOcpDims:
|
|||
|
||||
@nbx_0.setter
|
||||
def nbx_0(self, nbx_0):
|
||||
if type(nbx_0) == int and nbx_0 > -1:
|
||||
if isinstance(nbx_0, int) and nbx_0 > -1:
|
||||
self.__nbx_0 = nbx_0
|
||||
else:
|
||||
raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nbx_e.setter
|
||||
def nbx_e(self, nbx_e):
|
||||
if type(nbx_e) == int and nbx_e > -1:
|
||||
if isinstance(nbx_e, int) and nbx_e > -1:
|
||||
self.__nbx_e = nbx_e
|
||||
else:
|
||||
raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nbu.setter
|
||||
def nbu(self, nbu):
|
||||
if type(nbu) == int and nbu > -1:
|
||||
if isinstance(nbu, int) and nbu > -1:
|
||||
self.__nbu = nbu
|
||||
else:
|
||||
raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbx.setter
|
||||
def nsbx(self, nsbx):
|
||||
if type(nsbx) == int and nsbx > -1:
|
||||
if isinstance(nsbx, int) and nsbx > -1:
|
||||
self.__nsbx = nsbx
|
||||
else:
|
||||
raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbx_e.setter
|
||||
def nsbx_e(self, nsbx_e):
|
||||
if type(nsbx_e) == int and nsbx_e > -1:
|
||||
if isinstance(nsbx_e, int) and nsbx_e > -1:
|
||||
self.__nsbx_e = nsbx_e
|
||||
else:
|
||||
raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nsbu.setter
|
||||
def nsbu(self, nsbu):
|
||||
if type(nsbu) == int and nsbu > -1:
|
||||
if isinstance(nsbu, int) and nsbu > -1:
|
||||
self.__nsbu = nsbu
|
||||
else:
|
||||
raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -1592,14 +1592,14 @@ class AcadosOcpConstraints:
|
|||
# initial x
|
||||
@lbx_0.setter
|
||||
def lbx_0(self, lbx_0):
|
||||
if type(lbx_0) == np.ndarray:
|
||||
if isinstance(lbx_0, np.ndarray):
|
||||
self.__lbx_0 = lbx_0
|
||||
else:
|
||||
raise Exception('Invalid lbx_0 value. Exiting.')
|
||||
|
||||
@ubx_0.setter
|
||||
def ubx_0(self, ubx_0):
|
||||
if type(ubx_0) == np.ndarray:
|
||||
if isinstance(ubx_0, np.ndarray):
|
||||
self.__ubx_0 = ubx_0
|
||||
else:
|
||||
raise Exception('Invalid ubx_0 value. Exiting.')
|
||||
|
|
@ -1613,7 +1613,7 @@ class AcadosOcpConstraints:
|
|||
|
||||
@Jbx_0.setter
|
||||
def Jbx_0(self, Jbx_0):
|
||||
if type(Jbx_0) == np.ndarray:
|
||||
if isinstance(Jbx_0, np.ndarray):
|
||||
self.__idxbx_0 = J_to_idx(Jbx_0)
|
||||
else:
|
||||
raise Exception('Invalid Jbx_0 value. Exiting.')
|
||||
|
|
@ -1639,28 +1639,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on x
|
||||
@lbx.setter
|
||||
def lbx(self, lbx):
|
||||
if type(lbx) == np.ndarray:
|
||||
if isinstance(lbx, np.ndarray):
|
||||
self.__lbx = lbx
|
||||
else:
|
||||
raise Exception('Invalid lbx value. Exiting.')
|
||||
|
||||
@ubx.setter
|
||||
def ubx(self, ubx):
|
||||
if type(ubx) == np.ndarray:
|
||||
if isinstance(ubx, np.ndarray):
|
||||
self.__ubx = ubx
|
||||
else:
|
||||
raise Exception('Invalid ubx value. Exiting.')
|
||||
|
||||
@idxbx.setter
|
||||
def idxbx(self, idxbx):
|
||||
if type(idxbx) == np.ndarray:
|
||||
if isinstance(idxbx, np.ndarray):
|
||||
self.__idxbx = idxbx
|
||||
else:
|
||||
raise Exception('Invalid idxbx value. Exiting.')
|
||||
|
||||
@Jbx.setter
|
||||
def Jbx(self, Jbx):
|
||||
if type(Jbx) == np.ndarray:
|
||||
if isinstance(Jbx, np.ndarray):
|
||||
self.__idxbx = J_to_idx(Jbx)
|
||||
else:
|
||||
raise Exception('Invalid Jbx value. Exiting.')
|
||||
|
|
@ -1668,28 +1668,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on u
|
||||
@lbu.setter
|
||||
def lbu(self, lbu):
|
||||
if type(lbu) == np.ndarray:
|
||||
if isinstance(lbu, np.ndarray):
|
||||
self.__lbu = lbu
|
||||
else:
|
||||
raise Exception('Invalid lbu value. Exiting.')
|
||||
|
||||
@ubu.setter
|
||||
def ubu(self, ubu):
|
||||
if type(ubu) == np.ndarray:
|
||||
if isinstance(ubu, np.ndarray):
|
||||
self.__ubu = ubu
|
||||
else:
|
||||
raise Exception('Invalid ubu value. Exiting.')
|
||||
|
||||
@idxbu.setter
|
||||
def idxbu(self, idxbu):
|
||||
if type(idxbu) == np.ndarray:
|
||||
if isinstance(idxbu, np.ndarray):
|
||||
self.__idxbu = idxbu
|
||||
else:
|
||||
raise Exception('Invalid idxbu value. Exiting.')
|
||||
|
||||
@Jbu.setter
|
||||
def Jbu(self, Jbu):
|
||||
if type(Jbu) == np.ndarray:
|
||||
if isinstance(Jbu, np.ndarray):
|
||||
self.__idxbu = J_to_idx(Jbu)
|
||||
else:
|
||||
raise Exception('Invalid Jbu value. Exiting.')
|
||||
|
|
@ -1697,28 +1697,28 @@ class AcadosOcpConstraints:
|
|||
# bounds on x at shooting node N
|
||||
@lbx_e.setter
|
||||
def lbx_e(self, lbx_e):
|
||||
if type(lbx_e) == np.ndarray:
|
||||
if isinstance(lbx_e, np.ndarray):
|
||||
self.__lbx_e = lbx_e
|
||||
else:
|
||||
raise Exception('Invalid lbx_e value. Exiting.')
|
||||
|
||||
@ubx_e.setter
|
||||
def ubx_e(self, ubx_e):
|
||||
if type(ubx_e) == np.ndarray:
|
||||
if isinstance(ubx_e, np.ndarray):
|
||||
self.__ubx_e = ubx_e
|
||||
else:
|
||||
raise Exception('Invalid ubx_e value. Exiting.')
|
||||
|
||||
@idxbx_e.setter
|
||||
def idxbx_e(self, idxbx_e):
|
||||
if type(idxbx_e) == np.ndarray:
|
||||
if isinstance(idxbx_e, np.ndarray):
|
||||
self.__idxbx_e = idxbx_e
|
||||
else:
|
||||
raise Exception('Invalid idxbx_e value. Exiting.')
|
||||
|
||||
@Jbx_e.setter
|
||||
def Jbx_e(self, Jbx_e):
|
||||
if type(Jbx_e) == np.ndarray:
|
||||
if isinstance(Jbx_e, np.ndarray):
|
||||
self.__idxbx_e = J_to_idx(Jbx_e)
|
||||
else:
|
||||
raise Exception('Invalid Jbx_e value. Exiting.')
|
||||
|
|
@ -1742,14 +1742,14 @@ class AcadosOcpConstraints:
|
|||
|
||||
@lg.setter
|
||||
def lg(self, lg):
|
||||
if type(lg) == np.ndarray:
|
||||
if isinstance(lg, np.ndarray):
|
||||
self.__lg = lg
|
||||
else:
|
||||
raise Exception('Invalid lg value. Exiting.')
|
||||
|
||||
@ug.setter
|
||||
def ug(self, ug):
|
||||
if type(ug) == np.ndarray:
|
||||
if isinstance(ug, np.ndarray):
|
||||
self.__ug = ug
|
||||
else:
|
||||
raise Exception('Invalid ug value. Exiting.')
|
||||
|
|
@ -1765,14 +1765,14 @@ class AcadosOcpConstraints:
|
|||
|
||||
@lg_e.setter
|
||||
def lg_e(self, lg_e):
|
||||
if type(lg_e) == np.ndarray:
|
||||
if isinstance(lg_e, np.ndarray):
|
||||
self.__lg_e = lg_e
|
||||
else:
|
||||
raise Exception('Invalid lg_e value. Exiting.')
|
||||
|
||||
@ug_e.setter
|
||||
def ug_e(self, ug_e):
|
||||
if type(ug_e) == np.ndarray:
|
||||
if isinstance(ug_e, np.ndarray):
|
||||
self.__ug_e = ug_e
|
||||
else:
|
||||
raise Exception('Invalid ug_e value. Exiting.')
|
||||
|
|
@ -1780,14 +1780,14 @@ class AcadosOcpConstraints:
|
|||
# nonlinear constraints
|
||||
@lh.setter
|
||||
def lh(self, lh):
|
||||
if type(lh) == np.ndarray:
|
||||
if isinstance(lh, np.ndarray):
|
||||
self.__lh = lh
|
||||
else:
|
||||
raise Exception('Invalid lh value. Exiting.')
|
||||
|
||||
@uh.setter
|
||||
def uh(self, uh):
|
||||
if type(uh) == np.ndarray:
|
||||
if isinstance(uh, np.ndarray):
|
||||
self.__uh = uh
|
||||
else:
|
||||
raise Exception('Invalid uh value. Exiting.')
|
||||
|
|
@ -1795,14 +1795,14 @@ class AcadosOcpConstraints:
|
|||
# convex-over-nonlinear constraints
|
||||
@lphi.setter
|
||||
def lphi(self, lphi):
|
||||
if type(lphi) == np.ndarray:
|
||||
if isinstance(lphi, np.ndarray):
|
||||
self.__lphi = lphi
|
||||
else:
|
||||
raise Exception('Invalid lphi value. Exiting.')
|
||||
|
||||
@uphi.setter
|
||||
def uphi(self, uphi):
|
||||
if type(uphi) == np.ndarray:
|
||||
if isinstance(uphi, np.ndarray):
|
||||
self.__uphi = uphi
|
||||
else:
|
||||
raise Exception('Invalid uphi value. Exiting.')
|
||||
|
|
@ -1810,14 +1810,14 @@ class AcadosOcpConstraints:
|
|||
# nonlinear constraints at shooting node N
|
||||
@lh_e.setter
|
||||
def lh_e(self, lh_e):
|
||||
if type(lh_e) == np.ndarray:
|
||||
if isinstance(lh_e, np.ndarray):
|
||||
self.__lh_e = lh_e
|
||||
else:
|
||||
raise Exception('Invalid lh_e value. Exiting.')
|
||||
|
||||
@uh_e.setter
|
||||
def uh_e(self, uh_e):
|
||||
if type(uh_e) == np.ndarray:
|
||||
if isinstance(uh_e, np.ndarray):
|
||||
self.__uh_e = uh_e
|
||||
else:
|
||||
raise Exception('Invalid uh_e value. Exiting.')
|
||||
|
|
@ -1825,14 +1825,14 @@ class AcadosOcpConstraints:
|
|||
# convex-over-nonlinear constraints at shooting node N
|
||||
@lphi_e.setter
|
||||
def lphi_e(self, lphi_e):
|
||||
if type(lphi_e) == np.ndarray:
|
||||
if isinstance(lphi_e, np.ndarray):
|
||||
self.__lphi_e = lphi_e
|
||||
else:
|
||||
raise Exception('Invalid lphi_e value. Exiting.')
|
||||
|
||||
@uphi_e.setter
|
||||
def uphi_e(self, uphi_e):
|
||||
if type(uphi_e) == np.ndarray:
|
||||
if isinstance(uphi_e, np.ndarray):
|
||||
self.__uphi_e = uphi_e
|
||||
else:
|
||||
raise Exception('Invalid uphi_e value. Exiting.')
|
||||
|
|
@ -1841,21 +1841,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on x
|
||||
@lsbx.setter
|
||||
def lsbx(self, lsbx):
|
||||
if type(lsbx) == np.ndarray:
|
||||
if isinstance(lsbx, np.ndarray):
|
||||
self.__lsbx = lsbx
|
||||
else:
|
||||
raise Exception('Invalid lsbx value. Exiting.')
|
||||
|
||||
@usbx.setter
|
||||
def usbx(self, usbx):
|
||||
if type(usbx) == np.ndarray:
|
||||
if isinstance(usbx, np.ndarray):
|
||||
self.__usbx = usbx
|
||||
else:
|
||||
raise Exception('Invalid usbx value. Exiting.')
|
||||
|
||||
@idxsbx.setter
|
||||
def idxsbx(self, idxsbx):
|
||||
if type(idxsbx) == np.ndarray:
|
||||
if isinstance(idxsbx, np.ndarray):
|
||||
self.__idxsbx = idxsbx
|
||||
else:
|
||||
raise Exception('Invalid idxsbx value. Exiting.')
|
||||
|
|
@ -1870,28 +1870,28 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on u
|
||||
@lsbu.setter
|
||||
def lsbu(self, lsbu):
|
||||
if type(lsbu) == np.ndarray:
|
||||
if isinstance(lsbu, np.ndarray):
|
||||
self.__lsbu = lsbu
|
||||
else:
|
||||
raise Exception('Invalid lsbu value. Exiting.')
|
||||
|
||||
@usbu.setter
|
||||
def usbu(self, usbu):
|
||||
if type(usbu) == np.ndarray:
|
||||
if isinstance(usbu, np.ndarray):
|
||||
self.__usbu = usbu
|
||||
else:
|
||||
raise Exception('Invalid usbu value. Exiting.')
|
||||
|
||||
@idxsbu.setter
|
||||
def idxsbu(self, idxsbu):
|
||||
if type(idxsbu) == np.ndarray:
|
||||
if isinstance(idxsbu, np.ndarray):
|
||||
self.__idxsbu = idxsbu
|
||||
else:
|
||||
raise Exception('Invalid idxsbu value. Exiting.')
|
||||
|
||||
@Jsbu.setter
|
||||
def Jsbu(self, Jsbu):
|
||||
if type(Jsbu) == np.ndarray:
|
||||
if isinstance(Jsbu, np.ndarray):
|
||||
self.__idxsbu = J_to_idx_slack(Jsbu)
|
||||
else:
|
||||
raise Exception('Invalid Jsbu value. Exiting.')
|
||||
|
|
@ -1899,28 +1899,28 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on x at shooting node N
|
||||
@lsbx_e.setter
|
||||
def lsbx_e(self, lsbx_e):
|
||||
if type(lsbx_e) == np.ndarray:
|
||||
if isinstance(lsbx_e, np.ndarray):
|
||||
self.__lsbx_e = lsbx_e
|
||||
else:
|
||||
raise Exception('Invalid lsbx_e value. Exiting.')
|
||||
|
||||
@usbx_e.setter
|
||||
def usbx_e(self, usbx_e):
|
||||
if type(usbx_e) == np.ndarray:
|
||||
if isinstance(usbx_e, np.ndarray):
|
||||
self.__usbx_e = usbx_e
|
||||
else:
|
||||
raise Exception('Invalid usbx_e value. Exiting.')
|
||||
|
||||
@idxsbx_e.setter
|
||||
def idxsbx_e(self, idxsbx_e):
|
||||
if type(idxsbx_e) == np.ndarray:
|
||||
if isinstance(idxsbx_e, np.ndarray):
|
||||
self.__idxsbx_e = idxsbx_e
|
||||
else:
|
||||
raise Exception('Invalid idxsbx_e value. Exiting.')
|
||||
|
||||
@Jsbx_e.setter
|
||||
def Jsbx_e(self, Jsbx_e):
|
||||
if type(Jsbx_e) == np.ndarray:
|
||||
if isinstance(Jsbx_e, np.ndarray):
|
||||
self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
|
||||
else:
|
||||
raise Exception('Invalid Jsbx_e value. Exiting.')
|
||||
|
|
@ -1959,21 +1959,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on nonlinear constraints
|
||||
@lsh.setter
|
||||
def lsh(self, lsh):
|
||||
if type(lsh) == np.ndarray:
|
||||
if isinstance(lsh, np.ndarray):
|
||||
self.__lsh = lsh
|
||||
else:
|
||||
raise Exception('Invalid lsh value. Exiting.')
|
||||
|
||||
@ush.setter
|
||||
def ush(self, ush):
|
||||
if type(ush) == np.ndarray:
|
||||
if isinstance(ush, np.ndarray):
|
||||
self.__ush = ush
|
||||
else:
|
||||
raise Exception('Invalid ush value. Exiting.')
|
||||
|
||||
@idxsh.setter
|
||||
def idxsh(self, idxsh):
|
||||
if type(idxsh) == np.ndarray:
|
||||
if isinstance(idxsh, np.ndarray):
|
||||
self.__idxsh = idxsh
|
||||
else:
|
||||
raise Exception('Invalid idxsh value. Exiting.')
|
||||
|
|
@ -1989,21 +1989,21 @@ class AcadosOcpConstraints:
|
|||
# soft bounds on convex-over-nonlinear constraints
|
||||
@lsphi.setter
|
||||
def lsphi(self, lsphi):
|
||||
if type(lsphi) == np.ndarray:
|
||||
if isinstance(lsphi, np.ndarray):
|
||||
self.__lsphi = lsphi
|
||||
else:
|
||||
raise Exception('Invalid lsphi value. Exiting.')
|
||||
|
||||
@usphi.setter
|
||||
def usphi(self, usphi):
|
||||
if type(usphi) == np.ndarray:
|
||||
if isinstance(usphi, np.ndarray):
|
||||
self.__usphi = usphi
|
||||
else:
|
||||
raise Exception('Invalid usphi value. Exiting.')
|
||||
|
||||
@idxsphi.setter
|
||||
def idxsphi(self, idxsphi):
|
||||
if type(idxsphi) == np.ndarray:
|
||||
if isinstance(idxsphi, np.ndarray):
|
||||
self.__idxsphi = idxsphi
|
||||
else:
|
||||
raise Exception('Invalid idxsphi value. Exiting.')
|
||||
|
|
@ -2151,6 +2151,10 @@ class AcadosOcpOptions:
|
|||
self.__ext_cost_num_hess = 0
|
||||
self.__alpha_min = 0.05
|
||||
self.__alpha_reduction = 0.7
|
||||
self.__line_search_use_sufficient_descent = 0
|
||||
self.__globalization_use_SOC = 0
|
||||
self.__full_step_dual = 0
|
||||
self.__eps_sufficient_descent = 1e-4
|
||||
|
||||
|
||||
@property
|
||||
|
|
@ -2367,6 +2371,43 @@ class AcadosOcpOptions:
|
|||
"""Step size reduction factor for globalization MERIT_BACKTRACKING, default: 0.7."""
|
||||
return self.__alpha_reduction
|
||||
|
||||
@property
|
||||
def line_search_use_sufficient_descent(self):
|
||||
"""
|
||||
Determines if sufficient descent (Armijo) condition is used in line search.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__line_search_use_sufficient_descent
|
||||
|
||||
@property
|
||||
def eps_sufficient_descent(self):
|
||||
"""
|
||||
Factor for sufficient descent (Armijo) conditon, see line_search_use_sufficient_descent.
|
||||
Type: float,
|
||||
default: 1e-4.
|
||||
"""
|
||||
return self.__eps_sufficient_descent
|
||||
|
||||
@property
|
||||
def globalization_use_SOC(self):
|
||||
"""
|
||||
Determines if second order correction (SOC) is done when using MERIT_BACKTRACKING.
|
||||
SOC is done if preliminary line search does not return full step.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__globalization_use_SOC
|
||||
|
||||
@property
|
||||
def full_step_dual(self):
|
||||
"""
|
||||
Determines if dual variables are updated with full steps (alpha=1.0) when primal variables are updated with smaller step.
|
||||
Type: int; 0 or 1;
|
||||
default: 0.
|
||||
"""
|
||||
return self.__full_step_dual
|
||||
|
||||
@property
|
||||
def nlp_solver_tol_ineq(self):
|
||||
"""NLP solver inequality tolerance"""
|
||||
|
|
@ -2524,12 +2565,23 @@ class AcadosOcpOptions:
|
|||
|
||||
@time_steps.setter
|
||||
def time_steps(self, time_steps):
|
||||
self.__time_steps = time_steps
|
||||
if isinstance(time_steps, np.ndarray):
|
||||
if len(time_steps.shape) == 1:
|
||||
self.__time_steps = time_steps
|
||||
else:
|
||||
raise Exception('Invalid time_steps, expected np.ndarray of shape (N,).')
|
||||
else:
|
||||
raise Exception('Invalid time_steps, expected np.ndarray.')
|
||||
|
||||
@shooting_nodes.setter
|
||||
def shooting_nodes(self, shooting_nodes):
|
||||
self.__shooting_nodes = shooting_nodes
|
||||
|
||||
if isinstance(shooting_nodes, np.ndarray):
|
||||
if len(shooting_nodes.shape) == 1:
|
||||
self.__shooting_nodes = shooting_nodes
|
||||
else:
|
||||
raise Exception('Invalid shooting_nodes, expected np.ndarray of shape (N+1,).')
|
||||
else:
|
||||
raise Exception('Invalid shooting_nodes, expected np.ndarray.')
|
||||
|
||||
@Tsim.setter
|
||||
def Tsim(self, Tsim):
|
||||
|
|
@ -2537,7 +2589,12 @@ class AcadosOcpOptions:
|
|||
|
||||
@globalization.setter
|
||||
def globalization(self, globalization):
|
||||
self.__globalization = globalization
|
||||
globalization_types = ('MERIT_BACKTRACKING', 'FIXED_STEP')
|
||||
if globalization in globalization_types:
|
||||
self.__globalization = globalization
|
||||
else:
|
||||
raise Exception('Invalid globalization value. Possible values are:\n\n' \
|
||||
+ ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.')
|
||||
|
||||
@alpha_min.setter
|
||||
def alpha_min(self, alpha_min):
|
||||
|
|
@ -2547,10 +2604,38 @@ class AcadosOcpOptions:
|
|||
def alpha_reduction(self, alpha_reduction):
|
||||
self.__alpha_reduction = alpha_reduction
|
||||
|
||||
@line_search_use_sufficient_descent.setter
|
||||
def line_search_use_sufficient_descent(self, line_search_use_sufficient_descent):
|
||||
if line_search_use_sufficient_descent in [0, 1]:
|
||||
self.__line_search_use_sufficient_descent = line_search_use_sufficient_descent
|
||||
else:
|
||||
raise Exception(f'Invalid value for line_search_use_sufficient_descent. Possible values are 0, 1, got {line_search_use_sufficient_descent}')
|
||||
|
||||
@globalization_use_SOC.setter
|
||||
def globalization_use_SOC(self, globalization_use_SOC):
|
||||
if globalization_use_SOC in [0, 1]:
|
||||
self.__globalization_use_SOC = globalization_use_SOC
|
||||
else:
|
||||
raise Exception(f'Invalid value for globalization_use_SOC. Possible values are 0, 1, got {globalization_use_SOC}')
|
||||
|
||||
@full_step_dual.setter
|
||||
def full_step_dual(self, full_step_dual):
|
||||
if full_step_dual in [0, 1]:
|
||||
self.__full_step_dual = full_step_dual
|
||||
else:
|
||||
raise Exception(f'Invalid value for full_step_dual. Possible values are 0, 1, got {full_step_dual}')
|
||||
|
||||
@eps_sufficient_descent.setter
|
||||
def eps_sufficient_descent(self, eps_sufficient_descent):
|
||||
if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
|
||||
self.__eps_sufficient_descent = eps_sufficient_descent
|
||||
else:
|
||||
raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting')
|
||||
|
||||
@sim_method_num_stages.setter
|
||||
def sim_method_num_stages(self, sim_method_num_stages):
|
||||
|
||||
# if type(sim_method_num_stages) == int:
|
||||
# if isinstance(sim_method_num_stages, int):
|
||||
# self.__sim_method_num_stages = sim_method_num_stages
|
||||
# else:
|
||||
# raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.')
|
||||
|
|
@ -2560,7 +2645,7 @@ class AcadosOcpOptions:
|
|||
@sim_method_num_steps.setter
|
||||
def sim_method_num_steps(self, sim_method_num_steps):
|
||||
|
||||
# if type(sim_method_num_steps) == int:
|
||||
# if isinstance(sim_method_num_steps, int):
|
||||
# self.__sim_method_num_steps = sim_method_num_steps
|
||||
# else:
|
||||
# raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.')
|
||||
|
|
@ -2570,7 +2655,7 @@ class AcadosOcpOptions:
|
|||
@sim_method_newton_iter.setter
|
||||
def sim_method_newton_iter(self, sim_method_newton_iter):
|
||||
|
||||
if type(sim_method_newton_iter) == int:
|
||||
if isinstance(sim_method_newton_iter, int):
|
||||
self.__sim_method_newton_iter = sim_method_newton_iter
|
||||
else:
|
||||
raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.')
|
||||
|
|
@ -2593,7 +2678,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@nlp_solver_step_length.setter
|
||||
def nlp_solver_step_length(self, nlp_solver_step_length):
|
||||
if type(nlp_solver_step_length) == float and nlp_solver_step_length > 0:
|
||||
if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
|
||||
self.__nlp_solver_step_length = nlp_solver_step_length
|
||||
else:
|
||||
raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting')
|
||||
|
|
@ -2614,7 +2699,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@qp_solver_cond_N.setter
|
||||
def qp_solver_cond_N(self, qp_solver_cond_N):
|
||||
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N > 0:
|
||||
if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
|
||||
self.__qp_solver_cond_N = qp_solver_cond_N
|
||||
else:
|
||||
raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting')
|
||||
|
|
@ -2705,21 +2790,21 @@ class AcadosOcpOptions:
|
|||
@nlp_solver_max_iter.setter
|
||||
def nlp_solver_max_iter(self, nlp_solver_max_iter):
|
||||
|
||||
if type(nlp_solver_max_iter) == int and nlp_solver_max_iter > 0:
|
||||
if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
|
||||
self.__nlp_solver_max_iter = nlp_solver_max_iter
|
||||
else:
|
||||
raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting')
|
||||
|
||||
@print_level.setter
|
||||
def print_level(self, print_level):
|
||||
if type(print_level) == int and print_level >= 0:
|
||||
if isinstance(print_level, int) and print_level >= 0:
|
||||
self.__print_level = print_level
|
||||
else:
|
||||
raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting')
|
||||
|
||||
@model_external_shared_lib_dir.setter
|
||||
def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
|
||||
if type(model_external_shared_lib_dir) == str :
|
||||
if isinstance(model_external_shared_lib_dir, str) :
|
||||
self.__model_external_shared_lib_dir = model_external_shared_lib_dir
|
||||
else:
|
||||
raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
|
||||
|
|
@ -2727,7 +2812,7 @@ class AcadosOcpOptions:
|
|||
|
||||
@model_external_shared_lib_name.setter
|
||||
def model_external_shared_lib_name(self, model_external_shared_lib_name):
|
||||
if type(model_external_shared_lib_name) == str :
|
||||
if isinstance(model_external_shared_lib_name, str) :
|
||||
if model_external_shared_lib_name[-3:] == '.so' :
|
||||
raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
|
||||
+ '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
|
||||
|
|
@ -2810,6 +2895,9 @@ class AcadosOcp:
|
|||
self.acados_lib_path = f'{acados_path}/lib'
|
||||
"""Path to where acados library is located, type: string"""
|
||||
|
||||
import numpy
|
||||
self.cython_include_dirs = numpy.get_include()
|
||||
|
||||
self.__parameter_values = np.array([])
|
||||
self.__problem_class = 'OCP'
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@ import os
|
|||
import json
|
||||
import numpy as np
|
||||
from datetime import datetime
|
||||
import ctypes
|
||||
import importlib
|
||||
from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
|
||||
|
||||
from copy import deepcopy
|
||||
|
|
@ -51,9 +51,9 @@ from .generate_c_code_nls_cost import generate_c_code_nls_cost
|
|||
from .generate_c_code_external_cost import generate_c_code_external_cost
|
||||
from .acados_ocp import AcadosOcp
|
||||
from .acados_model import acados_model_strip_casadi_symbolics
|
||||
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
|
||||
from .utils import is_column, is_empty, casadi_length, render_template,\
|
||||
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
|
||||
set_up_imported_gnsf_model, get_acados_path, get_ocp_nlp_layout, get_python_interface_path
|
||||
set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path
|
||||
|
||||
|
||||
def make_ocp_dims_consistent(acados_ocp):
|
||||
|
|
@ -90,7 +90,7 @@ def make_ocp_dims_consistent(acados_ocp):
|
|||
raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
|
||||
f'\nGot np = {dims.np}, acados_ocp.parameter_values.shape = {acados_ocp.parameter_values.shape[0]}\n')
|
||||
|
||||
# cost
|
||||
## cost
|
||||
# initial stage - if not set, copy fields from path constraints
|
||||
if cost.cost_type_0 is None:
|
||||
cost.cost_type_0 = cost.cost_type
|
||||
|
|
@ -434,18 +434,14 @@ def make_ocp_dims_consistent(acados_ocp):
|
|||
if np.shape(opts.shooting_nodes)[0] != dims.N+1:
|
||||
raise Exception('inconsistent dimension N, regarding shooting_nodes.')
|
||||
|
||||
# time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
|
||||
# # identify constant time-steps: due to numerical reasons the content of time_steps might vary a bit
|
||||
# delta_time_steps = time_steps[1:] - time_steps[0:-1]
|
||||
# avg_time_steps = np.average(time_steps)
|
||||
# # criterion for constant time-step detection: the min/max difference in values normalized by the average
|
||||
# check_const_time_step = np.max(delta_time_steps)-np.min(delta_time_steps) / avg_time_steps
|
||||
# # if the criterion is small, we have a constant time-step
|
||||
# if check_const_time_step < 1e-9:
|
||||
# time_steps[:] = avg_time_steps # if we have a constant time-step: apply the average time-step
|
||||
time_steps = np.zeros((dims.N,))
|
||||
for i in range(dims.N):
|
||||
time_steps[i] = opts.shooting_nodes[i+1] - opts.shooting_nodes[i] # TODO use commented code above
|
||||
time_steps = opts.shooting_nodes[1:] - opts.shooting_nodes[0:-1]
|
||||
# identify constant time_steps: due to numerical reasons the content of time_steps might vary a bit
|
||||
avg_time_steps = np.average(time_steps)
|
||||
# criterion for constant time step detection: the min/max difference in values normalized by the average
|
||||
check_const_time_step = (np.max(time_steps)-np.min(time_steps)) / avg_time_steps
|
||||
# if the criterion is small, we have a constant time_step
|
||||
if check_const_time_step < 1e-9:
|
||||
time_steps[:] = avg_time_steps # if we have a constant time_step: apply the average time_step
|
||||
|
||||
opts.time_steps = time_steps
|
||||
|
||||
|
|
@ -525,8 +521,7 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
|
|||
|
||||
# strip shooting_nodes
|
||||
ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
|
||||
|
||||
dims_dict = acados_class2dict(acados_ocp.dims)
|
||||
dims_dict = format_class_dict(acados_ocp.dims.__dict__)
|
||||
|
||||
ocp_check_against_layout(ocp_nlp_dict, dims_dict)
|
||||
|
||||
|
|
@ -782,8 +777,15 @@ class AcadosOcpSolver:
|
|||
dlclose.argtypes = [c_void_p]
|
||||
|
||||
@classmethod
|
||||
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True):
|
||||
def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None):
|
||||
"""
|
||||
Generates the code for an acados OCP solver, given the description in acados_ocp.
|
||||
:param acados_ocp: type AcadosOcp - description of the OCP for acados
|
||||
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
|
||||
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
|
||||
"""
|
||||
model = acados_ocp.model
|
||||
acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
|
||||
|
||||
if simulink_opts is None:
|
||||
simulink_opts = get_simulink_default_opts()
|
||||
|
|
@ -807,24 +809,91 @@ class AcadosOcpSolver:
|
|||
# dump to json
|
||||
ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
|
||||
|
||||
code_export_dir = acados_ocp.code_export_directory
|
||||
# render templates
|
||||
ocp_render_templates(acados_ocp, json_file)
|
||||
acados_ocp.json_file = json_file
|
||||
|
||||
if build:
|
||||
## Compile solver
|
||||
cwd=os.getcwd()
|
||||
os.chdir(code_export_dir)
|
||||
os.system('make clean_ocp_shared_lib')
|
||||
os.system('make ocp_shared_lib')
|
||||
os.chdir(cwd)
|
||||
|
||||
def __init__(self, model_name, N, code_export_dir):
|
||||
self.model_name = model_name
|
||||
self.N = N
|
||||
@classmethod
|
||||
def build(cls, code_export_dir, with_cython=False):
|
||||
"""
|
||||
Builds the code for an acados OCP solver, that has been generated in code_export_dir
|
||||
:param code_export_dir: directory in which acados OCP solver has been generated, see generate()
|
||||
:param with_cython: option indicating if the cython interface is build, default: False.
|
||||
"""
|
||||
cwd=os.getcwd()
|
||||
os.chdir(code_export_dir)
|
||||
if with_cython:
|
||||
os.system('make clean_ocp_cython')
|
||||
os.system('make ocp_cython')
|
||||
else:
|
||||
os.system('make clean_ocp_shared_lib')
|
||||
os.system('make ocp_shared_lib')
|
||||
os.chdir(cwd)
|
||||
|
||||
|
||||
@classmethod
|
||||
def create_cython_solver(cls, json_file):
|
||||
"""
|
||||
Returns an `AcadosOcpSolverCython` object.
|
||||
|
||||
This is an alternative Cython based Python wrapper to the acados OCP solver in C.
|
||||
This offers faster interaction with the solver, because getter and setter calls, which include shape checking are done in compiled C code.
|
||||
|
||||
The default wrapper `AcadosOcpSolver` is based on ctypes.
|
||||
"""
|
||||
with open(json_file, 'r') as f:
|
||||
acados_ocp_json = json.load(f)
|
||||
code_export_directory = acados_ocp_json['code_export_directory']
|
||||
|
||||
importlib.invalidate_caches()
|
||||
rel_code_export_directory = os.path.relpath(code_export_directory)
|
||||
acados_ocp_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_ocp_solver_pyx')
|
||||
|
||||
AcadosOcpSolverCython = getattr(acados_ocp_solver_pyx, 'AcadosOcpSolverCython')
|
||||
return AcadosOcpSolverCython(acados_ocp_json['model']['name'],
|
||||
acados_ocp_json['solver_options']['nlp_solver_type'],
|
||||
acados_ocp_json['dims']['N'])
|
||||
|
||||
|
||||
def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True):
|
||||
|
||||
self.solver_created = False
|
||||
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{self.model_name}.so'
|
||||
if generate:
|
||||
self.generate(acados_ocp, json_file=json_file, simulink_opts=simulink_opts)
|
||||
|
||||
# load json, store options in object
|
||||
with open(json_file, 'r') as f:
|
||||
acados_ocp_json = json.load(f)
|
||||
self.N = acados_ocp_json['dims']['N']
|
||||
self.model_name = acados_ocp_json['model']['name']
|
||||
self.solver_options = acados_ocp_json['solver_options']
|
||||
|
||||
acados_lib_path = acados_ocp_json['acados_lib_path']
|
||||
code_export_directory = acados_ocp_json['code_export_directory']
|
||||
|
||||
if build:
|
||||
self.build(code_export_directory, with_cython=False)
|
||||
|
||||
# Load acados library to avoid unloading the library.
|
||||
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
|
||||
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
|
||||
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
|
||||
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
|
||||
libacados_name = 'libacados.so'
|
||||
libacados_filepath = os.path.join(acados_lib_path, libacados_name)
|
||||
self.__acados_lib = CDLL(libacados_filepath)
|
||||
# find out if acados was compiled with OpenMP
|
||||
try:
|
||||
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
|
||||
except AttributeError as e:
|
||||
self.__acados_lib_uses_omp = False
|
||||
if self.__acados_lib_uses_omp:
|
||||
print('acados was compiled with OpenMP.')
|
||||
else:
|
||||
print('acados was compiled without OpenMP.')
|
||||
|
||||
self.shared_lib_name = f'{code_export_directory}/libacados_ocp_solver_{self.model_name}.so'
|
||||
|
||||
# get shared_lib
|
||||
self.shared_lib = CDLL(self.shared_lib_name)
|
||||
|
|
@ -842,6 +911,8 @@ class AcadosOcpSolver:
|
|||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
self.status = 0
|
||||
|
||||
|
||||
def __get_pointers_solver(self):
|
||||
"""
|
||||
|
|
@ -864,6 +935,10 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out").restype = c_void_p
|
||||
self.nlp_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out").restype = c_void_p
|
||||
self.sens_out = getattr(self.shared_lib, f"{self.model_name}_acados_get_sens_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in").restype = c_void_p
|
||||
self.nlp_in = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_in")(self.capsule)
|
||||
|
|
@ -872,46 +947,26 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver").restype = c_void_p
|
||||
self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
|
||||
|
||||
# treat parameters separately
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
|
||||
self._set_param = getattr(self.shared_lib, f"{self.model_name}_acados_update_params")
|
||||
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
|
||||
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
|
||||
def solve(self):
|
||||
"""
|
||||
Solve the ocp with current input.
|
||||
"""
|
||||
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_solve").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_solve").restype = c_int
|
||||
status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
|
||||
return status
|
||||
self.status = getattr(self.shared_lib, f"{self.model_name}_acados_solve")(self.capsule)
|
||||
|
||||
return self.status
|
||||
|
||||
|
||||
def set_new_time_steps(self, new_time_steps):
|
||||
"""
|
||||
Set new time steps before solving. Only reload library without code generation but with new time steps.
|
||||
Set new time steps.
|
||||
Recreates the solver if N changes.
|
||||
|
||||
:param new_time_steps: vector of new time steps for the solver
|
||||
:param new_time_steps: 1 dimensional np array of new time steps for the solver
|
||||
|
||||
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
|
||||
.. note:: This allows for different use-cases: either set a new size of time_steps or a new distribution of
|
||||
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
|
||||
do not require a new code export and compilation.
|
||||
"""
|
||||
|
|
@ -921,15 +976,14 @@ class AcadosOcpSolver:
|
|||
raise Exception('Solver was not yet created!')
|
||||
|
||||
# check if time steps really changed in value
|
||||
if np.array_equal(self.acados_ocp.solver_options.time_steps, new_time_steps):
|
||||
if np.array_equal(self.solver_options['time_steps'], new_time_steps):
|
||||
return
|
||||
|
||||
N = new_time_steps.size
|
||||
model = self.acados_ocp.model
|
||||
new_time_steps_data = cast(new_time_steps.ctypes.data, POINTER(c_double))
|
||||
|
||||
# check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
|
||||
if self.acados_ocp.solver_options.time_steps.size == N:
|
||||
if len(self.solver_options['time_steps']) == N:
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").argtypes = [c_void_p, c_int, c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps").restype = c_int
|
||||
assert getattr(self.shared_lib, f"{self.model_name}_acados_update_time_steps")(self.capsule, N, new_time_steps_data) == 0
|
||||
|
|
@ -941,11 +995,6 @@ class AcadosOcpSolver:
|
|||
getattr(self.shared_lib, f"{self.model_name}_acados_free").restype = c_int
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_free")(self.capsule)
|
||||
|
||||
# store N and new time steps
|
||||
self.N = self.acados_ocp.dims.N = N
|
||||
self.acados_ocp.solver_options.time_steps = new_time_steps
|
||||
self.acados_ocp.solver_options.Tsim = self.acados_ocp.solver_options.time_steps[0]
|
||||
|
||||
# create solver with new time steps
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").argtypes = [c_void_p, c_int, c_void_p]
|
||||
getattr(self.shared_lib, f"{self.model_name}_acados_create_with_discretization").restype = c_int
|
||||
|
|
@ -956,6 +1005,75 @@ class AcadosOcpSolver:
|
|||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
# store time_steps, N
|
||||
self.solver_options['time_steps'] = new_time_steps
|
||||
self.N = N
|
||||
self.solver_options['Tsim'] = self.solver_options['time_steps'][0]
|
||||
|
||||
|
||||
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
|
||||
"""
|
||||
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
|
||||
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
|
||||
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
|
||||
:param qp_solver_cond_N: new number of condensing stages for the solver
|
||||
|
||||
.. note:: This function can only be used in combination with a partial condensing QP solver.
|
||||
|
||||
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
|
||||
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
|
||||
`qp_solver_cond_N < N`.
|
||||
"""
|
||||
# unlikely but still possible
|
||||
if not self.solver_created:
|
||||
raise Exception('Solver was not yet created!')
|
||||
if self.N < qp_solver_cond_N:
|
||||
raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
|
||||
if self.solver_options['qp_solver_cond_N'] != qp_solver_cond_N:
|
||||
self.solver_created = False
|
||||
|
||||
# recreate the solver
|
||||
fun_name = f'{self.model_name}_acados_update_qp_solver_cond_N'
|
||||
getattr(self.shared_lib, fun_name).argtypes = [c_void_p, c_int]
|
||||
getattr(self.shared_lib, fun_name).restype = c_int
|
||||
assert getattr(self.shared_lib, fun_name)(self.capsule, qp_solver_cond_N) == 0
|
||||
|
||||
# store the new value
|
||||
self.solver_options['qp_solver_cond_N'] = qp_solver_cond_N
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
|
||||
|
||||
def eval_param_sens(self, index, stage=0, field="ex"):
|
||||
"""
|
||||
Calculate the sensitivity of the curent solution with respect to the initial state component of index
|
||||
|
||||
:param index: integer corresponding to initial state index in range(nx)
|
||||
"""
|
||||
|
||||
field_ = field
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
# checks
|
||||
if not isinstance(index, int):
|
||||
raise Exception('AcadosOcpSolver.eval_param_sens(): index must be Integer.')
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
nx = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
|
||||
|
||||
if index < 0 or index > nx:
|
||||
raise Exception(f'AcadosOcpSolver.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
|
||||
|
||||
# actual eval_param
|
||||
self.shared_lib.ocp_nlp_eval_param_sens.argtypes = [c_void_p, c_char_p, c_int, c_int, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_param_sens.restype = None
|
||||
self.shared_lib.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
|
||||
|
||||
return
|
||||
|
||||
|
||||
def get(self, stage_, field_):
|
||||
"""
|
||||
|
|
@ -978,23 +1096,30 @@ class AcadosOcpSolver:
|
|||
|
||||
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su']
|
||||
# mem_fields = ['sl', 'su']
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
sens_fields = ['sens_u', "sens_x"]
|
||||
all_fields = out_fields + sens_fields
|
||||
|
||||
if (field_ not in out_fields):
|
||||
field = field_
|
||||
|
||||
if (field_ not in all_fields):
|
||||
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
\n Possible values are {}. Exiting.'.format(field_, all_fields))
|
||||
|
||||
if not isinstance(stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
|
||||
|
||||
if stage_ < 0 or stage_ > self.N:
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_))
|
||||
|
||||
if stage_ == self.N and field_ == 'pi':
|
||||
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
|
||||
.format(field_, stage_))
|
||||
|
||||
if field_ in sens_fields:
|
||||
field = field_.replace('sens_', '')
|
||||
|
||||
field = field.encode('utf-8')
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
|
@ -1015,6 +1140,11 @@ class AcadosOcpSolver:
|
|||
# [c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
# self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
|
||||
# self.nlp_dims, self.nlp_solver, stage_, field, out_data)
|
||||
elif field_ in sens_fields:
|
||||
self.shared_lib.ocp_nlp_out_get.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_get(self.nlp_config, \
|
||||
self.nlp_dims, self.sens_out, stage_, field, out_data)
|
||||
|
||||
return out
|
||||
|
||||
|
|
@ -1029,6 +1159,7 @@ class AcadosOcpSolver:
|
|||
- res_comp: residual wrt complementarity conditions
|
||||
- qp_stat: status of QP solver
|
||||
- qp_iter: number of QP iterations
|
||||
- alpha: SQP step size
|
||||
- qp_res_stat: stationarity residual of the last QP solution
|
||||
- qp_res_eq: residual wrt equality constraints (dynamics) of the last QP solution
|
||||
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
|
||||
|
|
@ -1036,19 +1167,18 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
stat = self.get_stats("statistics")
|
||||
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
|
||||
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter')
|
||||
if stat.shape[0]>7:
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
print('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha')
|
||||
if stat.shape[0]>8:
|
||||
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
|
||||
for jj in range(stat.shape[1]):
|
||||
print('{:d}\t{:e}\t{:e}\t{:e}\t{:e}\t{:d}\t{:d}'.format( \
|
||||
int(stat[0][jj]), stat[1][jj], stat[2][jj], \
|
||||
stat[3][jj], stat[4][jj], int(stat[5][jj]), int(stat[6][jj])))
|
||||
if stat.shape[0]>7:
|
||||
print(f'{int(stat[0][jj]):d}\t{stat[1][jj]:e}\t{stat[2][jj]:e}\t{stat[3][jj]:e}\t' +
|
||||
f'{stat[4][jj]:e}\t{int(stat[5][jj]):d}\t{int(stat[6][jj]):d}\t{stat[7][jj]:e}\t')
|
||||
if stat.shape[0]>8:
|
||||
print('\t{:e}\t{:e}\t{:e}\t{:e}'.format( \
|
||||
stat[7][jj], stat[8][jj], stat[9][jj], stat[10][jj]))
|
||||
stat[8][jj], stat[9][jj], stat[10][jj], stat[11][jj]))
|
||||
print('\n')
|
||||
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
print('\niter\tqp_stat\tqp_iter')
|
||||
if stat.shape[0]>3:
|
||||
print('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp')
|
||||
|
|
@ -1108,6 +1238,7 @@ class AcadosOcpSolver:
|
|||
with open(filename, 'r') as f:
|
||||
solution = json.load(f)
|
||||
|
||||
print(f"loading iterate {filename}")
|
||||
for key in solution.keys():
|
||||
(field, stage) = key.split('_')
|
||||
self.set(int(stage), field, np.array(solution[key]))
|
||||
|
|
@ -1117,62 +1248,99 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
Get the information of the last solver call.
|
||||
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter', 'residuals', 'qp_iter', 'alpha']
|
||||
|
||||
Available fileds:
|
||||
- time_tot: total CPU time previous call
|
||||
- time_lin: CPU time for linearization
|
||||
- time_sim: CPU time for integrator
|
||||
- time_sim_ad: CPU time for integrator contribution of external function calls
|
||||
- time_sim_la: CPU time for integrator contribution of linear algebra
|
||||
- time_qp: CPU time qp solution
|
||||
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
|
||||
- time_qp_xcond: time_glob: CPU time globalization
|
||||
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
|
||||
- time_reg: CPU time regularization
|
||||
- sqp_iter: number of SQP iterations
|
||||
- qp_iter: vector of QP iterations for last SQP call
|
||||
- statistics: table with info about last iteration
|
||||
- stat_m: number of rows in statistics matrix
|
||||
- stat_n: number of columns in statistics matrix
|
||||
- residuals: residuals of last iterate
|
||||
- alpha: step sizes of SQP iterations
|
||||
"""
|
||||
|
||||
fields = ['time_tot', # total cpu time previous call
|
||||
'time_lin', # cpu time for linearization
|
||||
'time_sim', # cpu time for integrator
|
||||
'time_sim_ad', # cpu time for integrator contribution of external function calls
|
||||
'time_sim_la', # cpu time for integrator contribution of linear algebra
|
||||
'time_qp', # cpu time qp solution
|
||||
'time_qp_solver_call', # cpu time inside qp solver (without converting the QP)
|
||||
double_fields = ['time_tot',
|
||||
'time_lin',
|
||||
'time_sim',
|
||||
'time_sim_ad',
|
||||
'time_sim_la',
|
||||
'time_qp',
|
||||
'time_qp_solver_call',
|
||||
'time_qp_xcond',
|
||||
'time_glob', # cpu time globalization
|
||||
'time_reg', # cpu time regularization
|
||||
'sqp_iter', # number of SQP iterations
|
||||
'qp_iter', # vector of QP iterations for last SQP call
|
||||
'statistics', # table with info about last iteration
|
||||
'time_glob',
|
||||
'time_solution_sensitivities',
|
||||
'time_reg'
|
||||
]
|
||||
fields = double_fields + [
|
||||
'sqp_iter',
|
||||
'qp_iter',
|
||||
'statistics',
|
||||
'stat_m',
|
||||
'stat_n',]
|
||||
'stat_n',
|
||||
'residuals',
|
||||
'alpha',
|
||||
]
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
if (field_ not in fields):
|
||||
raise Exception('AcadosOcpSolver.get_stats(): {} is not a valid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(fields, fields))
|
||||
|
||||
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.int64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_int64))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
# TODO: just return double instead of np.
|
||||
elif field_ in double_fields:
|
||||
out = np.zeros((1,))
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
elif field_ == 'statistics':
|
||||
sqp_iter = self.get_stats("sqp_iter")
|
||||
stat_m = self.get_stats("stat_m")
|
||||
stat_n = self.get_stats("stat_n")
|
||||
|
||||
min_size = min([stat_m, sqp_iter+1])
|
||||
|
||||
out = np.ascontiguousarray(
|
||||
np.zeros((stat_n[0]+1, min_size[0])), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
return out
|
||||
|
||||
elif field_ == 'qp_iter':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP':
|
||||
out = full_stats[6, :]
|
||||
elif self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
out = full_stats[2, :]
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
return full_stats[6, :]
|
||||
elif self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
return full_stats[2, :]
|
||||
|
||||
elif field_ == 'alpha':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP':
|
||||
return full_stats[7, :]
|
||||
else: # self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
raise Exception("alpha values are not available for SQP_RTI")
|
||||
|
||||
elif field_ == 'residuals':
|
||||
return self.get_residuals()
|
||||
|
||||
else:
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
if not field_ == 'qp_iter':
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
|
||||
return out
|
||||
raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.'
|
||||
+ f'\n Possible values are {fields}.')
|
||||
|
||||
|
||||
def get_cost(self):
|
||||
|
|
@ -1201,7 +1369,7 @@ class AcadosOcpSolver:
|
|||
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
|
||||
"""
|
||||
# compute residuals if RTI
|
||||
if self.acados_ocp.solver_options.nlp_solver_type == 'SQP_RTI':
|
||||
if self.solver_options['nlp_solver_type'] == 'SQP_RTI':
|
||||
self.shared_lib.ocp_nlp_eval_residuals.argtypes = [c_void_p, c_void_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
|
|
@ -1230,9 +1398,7 @@ class AcadosOcpSolver:
|
|||
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
|
||||
def set(self, stage_, field_, value_):
|
||||
|
||||
"""
|
||||
Set numerical data inside the solver.
|
||||
|
||||
|
|
@ -1253,6 +1419,7 @@ class AcadosOcpSolver:
|
|||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
|
||||
mem_fields = ['xdot_guess']
|
||||
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
|
|
@ -1294,18 +1461,25 @@ class AcadosOcpSolver:
|
|||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
if field_ in constraints_fields:
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in cost_fields:
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in out_fields:
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
|
||||
# elif field_ in mem_fields:
|
||||
# self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
# self.nlp_solver, stage, field, value_data_p)
|
||||
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, value_data_p)
|
||||
return
|
||||
|
||||
|
||||
|
|
@ -1364,9 +1538,8 @@ class AcadosOcpSolver:
|
|||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != tuple(dims):
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
|
||||
' for field "{}" with dimension {} (you have {})'.format( \
|
||||
field_, tuple(dims), value_shape))
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
|
@ -1433,8 +1606,8 @@ class AcadosOcpSolver:
|
|||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != tuple(dims):
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
|
||||
raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
|
@ -1490,11 +1663,11 @@ class AcadosOcpSolver:
|
|||
"""
|
||||
Set options of the solver.
|
||||
|
||||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
|
||||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC'
|
||||
:param value: of type int, float
|
||||
"""
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
|
||||
string_fields = ['globalization']
|
||||
|
||||
# check field availability and type
|
||||
|
|
@ -1522,10 +1695,10 @@ class AcadosOcpSolver:
|
|||
|
||||
if field_ == 'rti_phase':
|
||||
if value_ < 0 or value_ > 2:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
|
||||
'take only values 0, 1, 2 for SQP-RTI-type solvers')
|
||||
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
if self.solver_options['nlp_solver_type'] != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.options_set(): argument \'rti_phase\' can '
|
||||
'take only value 0 for SQP-type solvers')
|
||||
|
||||
# encode
|
||||
|
|
|
|||
|
|
@ -1,402 +0,0 @@
|
|||
import sys
|
||||
import os
|
||||
import json
|
||||
import numpy as np
|
||||
from datetime import datetime
|
||||
|
||||
from ctypes import POINTER, CDLL, c_void_p, c_int, cast, c_double, c_char_p
|
||||
|
||||
from copy import deepcopy
|
||||
|
||||
from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
|
||||
from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
|
||||
from .generate_c_code_gnsf import generate_c_code_gnsf
|
||||
from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
|
||||
from .generate_c_code_constraint import generate_c_code_constraint
|
||||
from .generate_c_code_nls_cost import generate_c_code_nls_cost
|
||||
from .generate_c_code_external_cost import generate_c_code_external_cost
|
||||
from .acados_ocp import AcadosOcp
|
||||
from .acados_model import acados_model_strip_casadi_symbolics
|
||||
from .utils import is_column, is_empty, casadi_length, render_template, acados_class2dict,\
|
||||
format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
|
||||
set_up_imported_gnsf_model, get_acados_path
|
||||
|
||||
|
||||
class AcadosOcpSolverFast:
|
||||
dlclose = CDLL(None).dlclose
|
||||
dlclose.argtypes = [c_void_p]
|
||||
|
||||
def __init__(self, model_name, N, code_export_dir):
|
||||
|
||||
self.solver_created = False
|
||||
self.N = N
|
||||
self.model_name = model_name
|
||||
|
||||
self.shared_lib_name = f'{code_export_dir}/libacados_ocp_solver_{model_name}.so'
|
||||
|
||||
# get shared_lib
|
||||
self.shared_lib = CDLL(self.shared_lib_name)
|
||||
|
||||
# create capsule
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create_capsule").restype = c_void_p
|
||||
self.capsule = getattr(self.shared_lib, f"{model_name}_acados_create_capsule")()
|
||||
|
||||
# create solver
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_create").restype = c_int
|
||||
assert getattr(self.shared_lib, f"{model_name}_acados_create")(self.capsule)==0
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts").restype = c_void_p
|
||||
self.nlp_opts = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_opts")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims").restype = c_void_p
|
||||
self.nlp_dims = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_dims")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config").restype = c_void_p
|
||||
self.nlp_config = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_config")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out").restype = c_void_p
|
||||
self.nlp_out = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_out")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in").restype = c_void_p
|
||||
self.nlp_in = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_in")(self.capsule)
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver").restype = c_void_p
|
||||
self.nlp_solver = getattr(self.shared_lib, f"{model_name}_acados_get_nlp_solver")(self.capsule)
|
||||
|
||||
|
||||
def solve(self):
|
||||
"""
|
||||
Solve the ocp with current input.
|
||||
"""
|
||||
model_name = self.model_name
|
||||
|
||||
getattr(self.shared_lib, f"{model_name}_acados_solve").argtypes = [c_void_p]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_solve").restype = c_int
|
||||
status = getattr(self.shared_lib, f"{model_name}_acados_solve")(self.capsule)
|
||||
return status
|
||||
|
||||
def cost_set(self, start_stage_, field_, value_, api='warn'):
|
||||
self.cost_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
|
||||
return
|
||||
|
||||
def cost_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
|
||||
"""
|
||||
Set numerical data in the cost module of the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
|
||||
:param value: of appropriate size
|
||||
"""
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = np.ascontiguousarray(np.copy(value_), dtype=np.float64)
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
dim = np.product(value_.shape[1:])
|
||||
|
||||
start_stage = c_int(start_stage_)
|
||||
end_stage = c_int(end_stage_)
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
|
||||
dims_data = cast(dims.ctypes.data, POINTER(c_int))
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_dims_get_from_attr(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
|
||||
|
||||
value_shape = value_.shape
|
||||
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
|
||||
if len(value_shape) == 2:
|
||||
value_shape = (value_shape[0], value_shape[1], 0)
|
||||
|
||||
elif len(value_shape) == 3:
|
||||
if api=='old':
|
||||
pass
|
||||
elif api=='warn':
|
||||
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
|
||||
raise Exception("Ambiguity in API detected.\n"
|
||||
"Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
|
||||
"Are you seeing this error suddenly in previously running code? Read on.\n"
|
||||
" You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
|
||||
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
|
||||
" Two options to fix this error: \n" +
|
||||
" * Add api='old' to cost_set to restore old incorrect behaviour\n" +
|
||||
" * Add api='new' to cost_set and remove any unnatural manipulation of the value argument " +
|
||||
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
|
||||
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
elif api=='new':
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
else:
|
||||
raise Exception("Unknown api: '{}'".format(api))
|
||||
|
||||
if value_shape != expected_shape:
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension',
|
||||
' for field "{}" with dimension {} (you have {})'.format(
|
||||
field_, expected_shape, value_shape))
|
||||
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
self.shared_lib.ocp_nlp_cost_model_set_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
|
||||
self.shared_lib.ocp_nlp_cost_model_set_slice(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
|
||||
return
|
||||
|
||||
def constraints_set(self, start_stage_, field_, value_, api='warn'):
|
||||
self.constraints_set_slice(start_stage_, start_stage_+1, field_, value_[None], api='warn')
|
||||
return
|
||||
|
||||
def constraints_set_slice(self, start_stage_, end_stage_, field_, value_, api='warn'):
|
||||
"""
|
||||
Set numerical data in the constraint module of the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi']
|
||||
:param value: of appropriate size
|
||||
"""
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = value_.astype(float)
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
dim = np.product(value_.shape[1:])
|
||||
|
||||
start_stage = c_int(start_stage_)
|
||||
end_stage = c_int(end_stage_)
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
|
||||
dims_data = cast(dims.ctypes.data, POINTER(c_int))
|
||||
|
||||
self.shared_lib.ocp_nlp_constraint_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field, dims_data)
|
||||
|
||||
value_shape = value_.shape
|
||||
expected_shape = tuple(np.concatenate([np.array([end_stage_ - start_stage_]), dims]))
|
||||
if len(value_shape) == 2:
|
||||
value_shape = (value_shape[0], value_shape[1], 0)
|
||||
elif len(value_shape) == 3:
|
||||
if api=='old':
|
||||
pass
|
||||
elif api=='warn':
|
||||
if not np.all(np.ravel(value_, order='F')==np.ravel(value_, order='K')):
|
||||
raise Exception("Ambiguity in API detected.\n"
|
||||
"Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
|
||||
"Are you seeing this error suddenly in previously running code? Read on.\n"
|
||||
" You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
|
||||
" acados_template now correctly passes on any matrices to acados in column major format.\n" +
|
||||
" Two options to fix this error: \n" +
|
||||
" * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
|
||||
" * Add api='new' to constraints_set and remove any unnatural manipulation of the value argument " +
|
||||
"such as non-mathematical transposes, reshaping, casting to fortran order, etc... " +
|
||||
"If there is no such manipulation, then you have probably been getting an incorrect solution before.")
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
elif api=='new':
|
||||
# Get elements in column major order
|
||||
value_ = np.ravel(value_, order='F')
|
||||
else:
|
||||
raise Exception("Unknown api: '{}'".format(api))
|
||||
if value_shape != expected_shape:
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, expected_shape, value_shape))
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
self.shared_lib.ocp_nlp_constraints_model_set_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p, c_int]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set_slice(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, start_stage, end_stage, field, value_data_p, dim)
|
||||
return
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
def set(self, stage_, field_, value_):
|
||||
"""
|
||||
Set numerical data inside the solver.
|
||||
|
||||
:param stage: integer corresponding to shooting node
|
||||
:param field: string in ['x', 'u', 'pi', 'lam', 't', 'p']
|
||||
|
||||
.. note:: regarding lam, t: \n
|
||||
the inequalities are internally organized in the following order: \n
|
||||
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
|
||||
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
|
||||
|
||||
.. note:: pi: multipliers for dynamics equality constraints \n
|
||||
lam: multipliers for inequalities \n
|
||||
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
|
||||
sl: slack variables of soft lower inequality constraints \n
|
||||
su: slack variables of soft upper inequality constraints \n
|
||||
"""
|
||||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z']
|
||||
mem_fields = ['sl', 'su']
|
||||
|
||||
# cast value_ to avoid conversion issues
|
||||
if isinstance(value_, (float, int)):
|
||||
value_ = np.array([value_])
|
||||
value_ = value_.astype(float)
|
||||
|
||||
model_name = self.model_name
|
||||
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
|
||||
stage = c_int(stage_)
|
||||
|
||||
# treat parameters separately
|
||||
if field_ == 'p':
|
||||
getattr(self.shared_lib, f"{model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
|
||||
getattr(self.shared_lib, f"{model_name}_acados_update_params").restype = c_int
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
|
||||
assert getattr(self.shared_lib, f"{model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
|
||||
else:
|
||||
if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
|
||||
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
|
||||
\nPossible values are {}. Exiting.".format(field, \
|
||||
constraints_fields + cost_fields + out_fields + ['p']))
|
||||
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage_, field)
|
||||
|
||||
if value_.shape[0] != dims:
|
||||
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg += 'with dimension {} (you have {})'.format(dims, value_.shape)
|
||||
raise Exception(msg)
|
||||
|
||||
value_data = cast(value_.ctypes.data, POINTER(c_double))
|
||||
value_data_p = cast((value_data), c_void_p)
|
||||
|
||||
if field_ in constraints_fields:
|
||||
self.shared_lib.ocp_nlp_constraints_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in cost_fields:
|
||||
self.shared_lib.ocp_nlp_cost_model_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, value_data_p)
|
||||
elif field_ in out_fields:
|
||||
self.shared_lib.ocp_nlp_out_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, stage, field, value_data_p)
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_set.argtypes = \
|
||||
[c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, value_data_p)
|
||||
return
|
||||
|
||||
|
||||
def get_slice(self, start_stage_, end_stage_, field_):
|
||||
"""
|
||||
Get the last solution of the solver:
|
||||
|
||||
:param start_stage: integer corresponding to shooting node that indicates start of slice
|
||||
:param end_stage: integer corresponding to shooting node that indicates end of slice
|
||||
:param field: string in ['x', 'u', 'z', 'pi', 'lam', 't', 'sl', 'su',]
|
||||
|
||||
.. note:: regarding lam, t: \n
|
||||
the inequalities are internally organized in the following order: \n
|
||||
[ lbu lbx lg lh lphi ubu ubx ug uh uphi; \n
|
||||
lsbu lsbx lsg lsh lsphi usbu usbx usg ush usphi]
|
||||
|
||||
.. note:: pi: multipliers for dynamics equality constraints \n
|
||||
lam: multipliers for inequalities \n
|
||||
t: slack variables corresponding to evaluation of all inequalities (at the solution) \n
|
||||
sl: slack variables of soft lower inequality constraints \n
|
||||
su: slack variables of soft upper inequality constraints \n
|
||||
"""
|
||||
out_fields = ['x', 'u', 'z', 'pi', 'lam', 't']
|
||||
mem_fields = ['sl', 'su']
|
||||
field = field_
|
||||
field = field.encode('utf-8')
|
||||
|
||||
if (field_ not in out_fields + mem_fields):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
|
||||
if not isinstance(start_stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
|
||||
|
||||
if not isinstance(end_stage_, int):
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be Integer.')
|
||||
|
||||
if start_stage_ >= end_stage_:
|
||||
raise Exception('AcadosOcpSolver.get_slice(): end stage index must be larger than start stage index')
|
||||
|
||||
if start_stage_ < 0 or end_stage_ > self.N + 1:
|
||||
raise Exception('AcadosOcpSolver.get_slice(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p]
|
||||
self.shared_lib.ocp_nlp_dims_get_from_attr.restype = c_int
|
||||
|
||||
dims = self.shared_lib.ocp_nlp_dims_get_from_attr(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, field)
|
||||
|
||||
out = np.ascontiguousarray(np.zeros((end_stage_ - start_stage_, dims)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
if (field_ in out_fields):
|
||||
self.shared_lib.ocp_nlp_out_get_slice.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_out_get_slice(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_out, start_stage_, end_stage_, field, out_data)
|
||||
elif field_ in mem_fields:
|
||||
self.shared_lib.ocp_nlp_get_at_stage.argtypes = \
|
||||
[c_void_p, c_void_p, c_void_p, c_int, c_char_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_get_at_stage(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_solver, start_stage_, end_stage_, field, out_data)
|
||||
|
||||
return out
|
||||
|
||||
def get_cost(self):
|
||||
"""
|
||||
Returns the cost value of the current solution.
|
||||
"""
|
||||
# compute cost internally
|
||||
self.shared_lib.ocp_nlp_eval_cost.argtypes = [c_void_p, c_void_p, c_void_p]
|
||||
self.shared_lib.ocp_nlp_eval_cost(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
# create output array
|
||||
out = np.ascontiguousarray(np.zeros((1,)), dtype=np.float64)
|
||||
out_data = cast(out.ctypes.data, POINTER(c_double))
|
||||
|
||||
# call getter
|
||||
self.shared_lib.ocp_nlp_get.argtypes = [c_void_p, c_void_p, c_char_p, c_void_p]
|
||||
|
||||
field = "cost_value".encode('utf-8')
|
||||
self.shared_lib.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, out_data)
|
||||
|
||||
return out[0]
|
||||
|
|
@ -39,21 +39,19 @@ cimport cython
|
|||
from libc cimport string
|
||||
|
||||
cimport acados_solver_common
|
||||
# TODO: make this import more clear? it is not a general solver, but problem specific.
|
||||
cimport acados_solver
|
||||
|
||||
cimport numpy as cnp
|
||||
|
||||
import os
|
||||
from datetime import datetime
|
||||
import numpy as np
|
||||
|
||||
|
||||
cdef class AcadosOcpSolverFast:
|
||||
cdef class AcadosOcpSolverCython:
|
||||
"""
|
||||
Class to interact with the acados ocp solver C object.
|
||||
|
||||
:param acados_ocp: type AcadosOcp - description of the OCP for acados
|
||||
:param json_file: name for the json file used to render the templated code - default: acados_ocp_nlp.json
|
||||
:param simulink_opts: Options to configure Simulink S-function blocks, mainly to activate possible Inputs and Outputs
|
||||
"""
|
||||
|
||||
cdef acados_solver.nlp_solver_capsule *capsule
|
||||
|
|
@ -61,19 +59,26 @@ cdef class AcadosOcpSolverFast:
|
|||
cdef acados_solver_common.ocp_nlp_dims *nlp_dims
|
||||
cdef acados_solver_common.ocp_nlp_config *nlp_config
|
||||
cdef acados_solver_common.ocp_nlp_out *nlp_out
|
||||
cdef acados_solver_common.ocp_nlp_out *sens_out
|
||||
cdef acados_solver_common.ocp_nlp_in *nlp_in
|
||||
cdef acados_solver_common.ocp_nlp_solver *nlp_solver
|
||||
|
||||
cdef str model_name
|
||||
cdef int N
|
||||
cdef int status
|
||||
cdef bint solver_created
|
||||
|
||||
def __cinit__(self, str model_name, int N, str code_export_dir):
|
||||
self.model_name = model_name
|
||||
self.N = N
|
||||
cdef str model_name
|
||||
cdef int N
|
||||
|
||||
cdef str nlp_solver_type
|
||||
|
||||
def __cinit__(self, model_name, nlp_solver_type, N):
|
||||
|
||||
self.solver_created = False
|
||||
|
||||
self.N = N
|
||||
self.model_name = model_name
|
||||
self.nlp_solver_type = nlp_solver_type
|
||||
|
||||
# create capsule
|
||||
self.capsule = acados_solver.acados_create_capsule()
|
||||
|
||||
|
|
@ -81,11 +86,21 @@ cdef class AcadosOcpSolverFast:
|
|||
assert acados_solver.acados_create(self.capsule) == 0
|
||||
self.solver_created = True
|
||||
|
||||
# get pointers solver
|
||||
self.__get_pointers_solver()
|
||||
self.status = 0
|
||||
|
||||
|
||||
def __get_pointers_solver(self):
|
||||
"""
|
||||
Private function to get the pointers for solver
|
||||
"""
|
||||
# get pointers solver
|
||||
self.nlp_opts = acados_solver.acados_get_nlp_opts(self.capsule)
|
||||
self.nlp_dims = acados_solver.acados_get_nlp_dims(self.capsule)
|
||||
self.nlp_config = acados_solver.acados_get_nlp_config(self.capsule)
|
||||
self.nlp_out = acados_solver.acados_get_nlp_out(self.capsule)
|
||||
self.sens_out = acados_solver.acados_get_sens_out(self.capsule)
|
||||
self.nlp_in = acados_solver.acados_get_nlp_in(self.capsule)
|
||||
self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
|
||||
|
||||
|
|
@ -99,15 +114,112 @@ cdef class AcadosOcpSolverFast:
|
|||
|
||||
def set_new_time_steps(self, new_time_steps):
|
||||
"""
|
||||
Set new time steps before solving. Only reload library without code generation but with new time steps.
|
||||
Set new time steps.
|
||||
Recreates the solver if N changes.
|
||||
|
||||
:param new_time_steps: vector of new time steps for the solver
|
||||
:param new_time_steps: 1 dimensional np array of new time steps for the solver
|
||||
|
||||
.. note:: This allows for different use-cases: either set a new size of time-steps or a new distribution of
|
||||
the shooting nodes without changing the number, e.g., to reach a different final time. Both cases
|
||||
do not require a new code export and compilation.
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
|
||||
raise NotImplementedError("AcadosOcpSolverCython: does not support set_new_time_steps() since it is only a prototyping feature")
|
||||
# # unlikely but still possible
|
||||
# if not self.solver_created:
|
||||
# raise Exception('Solver was not yet created!')
|
||||
|
||||
# ## check if time steps really changed in value
|
||||
# # get time steps
|
||||
# cdef cnp.ndarray[cnp.float64_t, ndim=1] old_time_steps = np.ascontiguousarray(np.zeros((self.N,)), dtype=np.float64)
|
||||
# assert acados_solver.acados_get_time_steps(self.capsule, self.N, <double *> old_time_steps.data)
|
||||
|
||||
# if np.array_equal(old_time_steps, new_time_steps):
|
||||
# return
|
||||
|
||||
# N = new_time_steps.size
|
||||
# cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(new_time_steps, dtype=np.float64)
|
||||
|
||||
# # check if recreation of acados is necessary (no need to recreate acados if sizes are identical)
|
||||
# if len(old_time_steps) == N:
|
||||
# assert acados_solver.acados_update_time_steps(self.capsule, N, <double *> value.data) == 0
|
||||
|
||||
# else: # recreate the solver with the new time steps
|
||||
# self.solver_created = False
|
||||
|
||||
# # delete old memory (analog to __del__)
|
||||
# acados_solver.acados_free(self.capsule)
|
||||
|
||||
# # create solver with new time steps
|
||||
# assert acados_solver.acados_create_with_discretization(self.capsule, N, <double *> value.data) == 0
|
||||
|
||||
# self.solver_created = True
|
||||
|
||||
# # get pointers solver
|
||||
# self.__get_pointers_solver()
|
||||
|
||||
# # store time_steps, N
|
||||
# self.time_steps = new_time_steps
|
||||
# self.N = N
|
||||
|
||||
|
||||
def update_qp_solver_cond_N(self, qp_solver_cond_N: int):
|
||||
"""
|
||||
Recreate solver with new value `qp_solver_cond_N` with a partial condensing QP solver.
|
||||
This function is relevant for code reuse, i.e., if either `set_new_time_steps(...)` is used or
|
||||
the influence of a different `qp_solver_cond_N` is studied without code export and compilation.
|
||||
:param qp_solver_cond_N: new number of condensing stages for the solver
|
||||
|
||||
.. note:: This function can only be used in combination with a partial condensing QP solver.
|
||||
|
||||
.. note:: After `set_new_time_steps(...)` is used and depending on the new number of time steps it might be
|
||||
necessary to change `qp_solver_cond_N` as well (using this function), i.e., typically
|
||||
`qp_solver_cond_N < N`.
|
||||
"""
|
||||
raise NotImplementedError("AcadosOcpSolverCython: does not support update_qp_solver_cond_N() since it is only a prototyping feature")
|
||||
|
||||
# # unlikely but still possible
|
||||
# if not self.solver_created:
|
||||
# raise Exception('Solver was not yet created!')
|
||||
# if self.N < qp_solver_cond_N:
|
||||
# raise Exception('Setting qp_solver_cond_N to be larger than N does not work!')
|
||||
# if self.qp_solver_cond_N != qp_solver_cond_N:
|
||||
# self.solver_created = False
|
||||
|
||||
# # recreate the solver
|
||||
# acados_solver.acados_update_qp_solver_cond_N(self.capsule, qp_solver_cond_N)
|
||||
|
||||
# # store the new value
|
||||
# self.qp_solver_cond_N = qp_solver_cond_N
|
||||
# self.solver_created = True
|
||||
|
||||
# # get pointers solver
|
||||
# self.__get_pointers_solver()
|
||||
|
||||
|
||||
def eval_param_sens(self, index, stage=0, field="ex"):
|
||||
"""
|
||||
Calculate the sensitivity of the curent solution with respect to the initial state component of index
|
||||
|
||||
:param index: integer corresponding to initial state index in range(nx)
|
||||
"""
|
||||
|
||||
field_ = field
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
# checks
|
||||
if not isinstance(index, int):
|
||||
raise Exception('AcadosOcpSolverCython.eval_param_sens(): index must be Integer.')
|
||||
|
||||
cdef int nx = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, 0, "x".encode('utf-8'))
|
||||
|
||||
if index < 0 or index > nx:
|
||||
raise Exception(f'AcadosOcpSolverCython.eval_param_sens(): index must be in [0, nx-1], got: {index}.')
|
||||
|
||||
# actual eval_param
|
||||
acados_solver_common.ocp_nlp_eval_param_sens(self.nlp_solver, field, stage, index, self.sens_out)
|
||||
|
||||
return
|
||||
|
||||
|
||||
def get(self, int stage, str field_):
|
||||
|
|
@ -133,14 +245,14 @@ cdef class AcadosOcpSolverFast:
|
|||
field = field_.encode('utf-8')
|
||||
|
||||
if field_ not in out_fields:
|
||||
raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
|
||||
raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
|
||||
\n Possible values are {}. Exiting.'.format(field_, out_fields))
|
||||
|
||||
if stage < 0 or stage > self.N:
|
||||
raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
|
||||
|
||||
if stage == self.N and field_ == 'pi':
|
||||
raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
|
||||
raise Exception('AcadosOcpSolverCython.get(): field {} does not exist at final stage {}.'\
|
||||
.format(field_, stage))
|
||||
|
||||
cdef int dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
|
||||
|
|
@ -168,7 +280,7 @@ cdef class AcadosOcpSolverFast:
|
|||
- qp_res_ineq: residual wrt inequality constraints (constraints) of the last QP solution
|
||||
- qp_res_comp: residual wrt complementarity conditions of the last QP solution
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
acados_solver.acados_print_stats(self.capsule)
|
||||
|
||||
|
||||
def store_iterate(self, filename='', overwrite=False):
|
||||
|
|
@ -178,14 +290,50 @@ cdef class AcadosOcpSolverFast:
|
|||
:param filename: if not set, use model_name + timestamp + '.json'
|
||||
:param overwrite: if false and filename exists add timestamp to filename
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
import json
|
||||
if filename == '':
|
||||
filename += self.model_name + '_' + 'iterate' + '.json'
|
||||
|
||||
if not overwrite:
|
||||
# append timestamp
|
||||
if os.path.isfile(filename):
|
||||
filename = filename[:-5]
|
||||
filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
|
||||
|
||||
# get iterate:
|
||||
solution = dict()
|
||||
|
||||
for i in range(self.N+1):
|
||||
solution['x_'+str(i)] = self.get(i,'x')
|
||||
solution['u_'+str(i)] = self.get(i,'u')
|
||||
solution['z_'+str(i)] = self.get(i,'z')
|
||||
solution['lam_'+str(i)] = self.get(i,'lam')
|
||||
solution['t_'+str(i)] = self.get(i, 't')
|
||||
solution['sl_'+str(i)] = self.get(i, 'sl')
|
||||
solution['su_'+str(i)] = self.get(i, 'su')
|
||||
for i in range(self.N):
|
||||
solution['pi_'+str(i)] = self.get(i,'pi')
|
||||
|
||||
# save
|
||||
with open(filename, 'w') as f:
|
||||
json.dump(solution, f, default=lambda x: x.tolist(), indent=4, sort_keys=True)
|
||||
print("stored current iterate in ", os.path.join(os.getcwd(), filename))
|
||||
|
||||
|
||||
def load_iterate(self, filename):
|
||||
"""
|
||||
Loads the iterate stored in json file with filename into the ocp solver.
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
import json
|
||||
if not os.path.isfile(filename):
|
||||
raise Exception('load_iterate: failed, file does not exist: ' + os.path.join(os.getcwd(), filename))
|
||||
|
||||
with open(filename, 'r') as f:
|
||||
solution = json.load(f)
|
||||
|
||||
for key in solution.keys():
|
||||
(field, stage) = key.split('_')
|
||||
self.set(int(stage), field, np.array(solution[key]))
|
||||
|
||||
|
||||
def get_stats(self, field_):
|
||||
|
|
@ -193,8 +341,97 @@ cdef class AcadosOcpSolverFast:
|
|||
Get the information of the last solver call.
|
||||
|
||||
:param field: string in ['statistics', 'time_tot', 'time_lin', 'time_sim', 'time_sim_ad', 'time_sim_la', 'time_qp', 'time_qp_solver_call', 'time_reg', 'sqp_iter']
|
||||
Available fileds:
|
||||
- time_tot: total CPU time previous call
|
||||
- time_lin: CPU time for linearization
|
||||
- time_sim: CPU time for integrator
|
||||
- time_sim_ad: CPU time for integrator contribution of external function calls
|
||||
- time_sim_la: CPU time for integrator contribution of linear algebra
|
||||
- time_qp: CPU time qp solution
|
||||
- time_qp_solver_call: CPU time inside qp solver (without converting the QP)
|
||||
- time_qp_xcond: time_glob: CPU time globalization
|
||||
- time_solution_sensitivities: CPU time for previous call to eval_param_sens
|
||||
- time_reg: CPU time regularization
|
||||
- sqp_iter: number of SQP iterations
|
||||
- qp_iter: vector of QP iterations for last SQP call
|
||||
- statistics: table with info about last iteration
|
||||
- stat_m: number of rows in statistics matrix
|
||||
- stat_n: number of columns in statistics matrix
|
||||
- residuals: residuals of last iterate
|
||||
- alpha: step sizes of SQP iterations
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
|
||||
double_fields = ['time_tot',
|
||||
'time_lin',
|
||||
'time_sim',
|
||||
'time_sim_ad',
|
||||
'time_sim_la',
|
||||
'time_qp',
|
||||
'time_qp_solver_call',
|
||||
'time_qp_xcond',
|
||||
'time_glob',
|
||||
'time_solution_sensitivities',
|
||||
'time_reg'
|
||||
]
|
||||
fields = double_fields + [
|
||||
'sqp_iter',
|
||||
'qp_iter',
|
||||
'statistics',
|
||||
'stat_m',
|
||||
'stat_n',
|
||||
'residuals',
|
||||
'alpha',
|
||||
]
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
if field_ in ['sqp_iter', 'stat_m', 'stat_n']:
|
||||
return self.__get_stat_int(field)
|
||||
|
||||
elif field_ in double_fields:
|
||||
return self.__get_stat_double(field)
|
||||
|
||||
elif field_ == 'statistics':
|
||||
sqp_iter = self.get_stats("sqp_iter")
|
||||
stat_m = self.get_stats("stat_m")
|
||||
stat_n = self.get_stats("stat_n")
|
||||
min_size = min([stat_m, sqp_iter+1])
|
||||
return self.__get_stat_matrix(field, stat_n+1, min_size)
|
||||
|
||||
elif field_ == 'qp_iter':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.nlp_solver_type == 'SQP':
|
||||
return full_stats[6, :]
|
||||
elif self.nlp_solver_type == 'SQP_RTI':
|
||||
return full_stats[2, :]
|
||||
|
||||
elif field_ == 'alpha':
|
||||
full_stats = self.get_stats('statistics')
|
||||
if self.nlp_solver_type == 'SQP':
|
||||
return full_stats[7, :]
|
||||
else: # self.nlp_solver_type == 'SQP_RTI':
|
||||
raise Exception("alpha values are not available for SQP_RTI")
|
||||
|
||||
elif field_ == 'residuals':
|
||||
return self.get_residuals()
|
||||
|
||||
else:
|
||||
raise NotImplementedError("TODO!")
|
||||
|
||||
|
||||
def __get_stat_int(self, field):
|
||||
cdef int out
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &out)
|
||||
return out
|
||||
|
||||
def __get_stat_double(self, field):
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((1,))
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out.data)
|
||||
return out
|
||||
|
||||
def __get_stat_matrix(self, field, n, m):
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=2] out_mat = np.ascontiguousarray(np.zeros((n, m)), dtype=np.float64)
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> out_mat.data)
|
||||
return out_mat
|
||||
|
||||
|
||||
def get_cost(self):
|
||||
|
|
@ -217,7 +454,31 @@ cdef class AcadosOcpSolverFast:
|
|||
"""
|
||||
Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
|
||||
"""
|
||||
raise NotImplementedError()
|
||||
# compute residuals if RTI
|
||||
if self.nlp_solver_type == 'SQP_RTI':
|
||||
acados_solver_common.ocp_nlp_eval_residuals(self.nlp_solver, self.nlp_in, self.nlp_out)
|
||||
|
||||
# create output array
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((4,), dtype=np.float64))
|
||||
cdef double double_value
|
||||
|
||||
field = "res_stat".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[0] = double_value
|
||||
|
||||
field = "res_eq".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[1] = double_value
|
||||
|
||||
field = "res_ineq".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[2] = double_value
|
||||
|
||||
field = "res_comp".encode('utf-8')
|
||||
acados_solver_common.ocp_nlp_get(self.nlp_config, self.nlp_solver, field, <void *> &double_value)
|
||||
out[3] = double_value
|
||||
|
||||
return out
|
||||
|
||||
|
||||
# Note: this function should not be used anymore, better use cost_set, constraints_set
|
||||
|
|
@ -243,18 +504,18 @@ cdef class AcadosOcpSolverFast:
|
|||
cost_fields = ['y_ref', 'yref']
|
||||
constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
|
||||
out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
|
||||
mem_fields = ['xdot_guess']
|
||||
|
||||
field = field_.encode('utf-8')
|
||||
|
||||
cdef double[::1] value
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64)
|
||||
|
||||
# treat parameters separately
|
||||
if field_ == 'p':
|
||||
value = np.ascontiguousarray(value_, dtype=np.double)
|
||||
assert acados_solver.acados_update_params(self.capsule, stage, <double *> &value[0], value.shape[0]) == 0
|
||||
assert acados_solver.acados_update_params(self.capsule, stage, <double *> value.data, value.shape[0]) == 0
|
||||
else:
|
||||
if field_ not in constraints_fields + cost_fields + out_fields:
|
||||
raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
|
||||
raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
|
||||
\nPossible values are {}. Exiting.".format(field, \
|
||||
constraints_fields + cost_fields + out_fields + ['p']))
|
||||
|
||||
|
|
@ -262,20 +523,22 @@ cdef class AcadosOcpSolverFast:
|
|||
self.nlp_dims, self.nlp_out, stage, field)
|
||||
|
||||
if value_.shape[0] != dims:
|
||||
msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg = 'AcadosOcpSolverCython.set(): mismatching dimension for field "{}" '.format(field_)
|
||||
msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
|
||||
raise Exception(msg)
|
||||
|
||||
value = np.ascontiguousarray(value_, dtype=np.double)
|
||||
if field_ in constraints_fields:
|
||||
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
||||
elif field_ in cost_fields:
|
||||
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0])
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> value.data)
|
||||
elif field_ in out_fields:
|
||||
acados_solver_common.ocp_nlp_out_set(self.nlp_config,
|
||||
self.nlp_dims, self.nlp_out, stage, field, <void *> &value[0])
|
||||
self.nlp_dims, self.nlp_out, stage, field, <void *> value.data)
|
||||
elif field_ in mem_fields:
|
||||
acados_solver_common.ocp_nlp_set(self.nlp_config, \
|
||||
self.nlp_solver, stage, field, <void *> value.data)
|
||||
|
||||
|
||||
def cost_set(self, int stage, str field_, value_):
|
||||
|
|
@ -304,9 +567,8 @@ cdef class AcadosOcpSolverFast:
|
|||
value = np.asfortranarray(value_)
|
||||
|
||||
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
||||
raise Exception('AcadosOcpSolver.cost_set(): mismatching dimension', \
|
||||
' for field "{}" with dimension {} (you have {})'.format( \
|
||||
field_, tuple(dims), value_shape))
|
||||
raise Exception('AcadosOcpSolverCython.cost_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
|
||||
acados_solver_common.ocp_nlp_cost_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
||||
|
|
@ -338,8 +600,8 @@ cdef class AcadosOcpSolverFast:
|
|||
value = np.asfortranarray(value_)
|
||||
|
||||
if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
|
||||
raise Exception('AcadosOcpSolver.constraints_set(): mismatching dimension' \
|
||||
' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
|
||||
raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
|
||||
f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
|
||||
|
||||
acados_solver_common.ocp_nlp_constraints_model_set(self.nlp_config, \
|
||||
self.nlp_dims, self.nlp_in, stage, field, <void *> &value[0][0])
|
||||
|
|
@ -361,7 +623,7 @@ cdef class AcadosOcpSolverFast:
|
|||
acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
|
||||
|
||||
# create output data
|
||||
out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
|
||||
cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
|
||||
|
||||
# call getter
|
||||
acados_solver_common.ocp_nlp_get_at_stage(self.nlp_config, self.nlp_dims, self.nlp_solver, stage, field, <void *> out.data)
|
||||
|
|
@ -376,8 +638,8 @@ cdef class AcadosOcpSolverFast:
|
|||
:param field: string, e.g. 'print_level', 'rti_phase', 'initialize_t_slacks', 'step_length', 'alpha_min', 'alpha_reduction'
|
||||
:param value: of type int, float
|
||||
"""
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction']
|
||||
int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC']
|
||||
double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent']
|
||||
string_fields = ['globalization']
|
||||
|
||||
# encode
|
||||
|
|
@ -394,10 +656,10 @@ cdef class AcadosOcpSolverFast:
|
|||
|
||||
if field_ == 'rti_phase':
|
||||
if value_ < 0 or value_ > 2:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
||||
'take only values 0, 1, 2 for SQP-RTI-type solvers')
|
||||
if self.acados_ocp.solver_options.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolver.solve(): argument \'rti_phase\' can '
|
||||
if self.nlp_solver_type != 'SQP_RTI' and value_ > 0:
|
||||
raise Exception('AcadosOcpSolverCython.solve(): argument \'rti_phase\' can '
|
||||
'take only value 0 for SQP-type solvers')
|
||||
|
||||
int_value = value_
|
||||
|
|
@ -418,7 +680,7 @@ cdef class AcadosOcpSolverFast:
|
|||
acados_solver_common.ocp_nlp_solver_opts_set(self.nlp_config, self.nlp_opts, field, <void *> &string_value[0])
|
||||
|
||||
else:
|
||||
raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
|
||||
raise Exception('AcadosOcpSolverCython.options_set() does not support field {}.'\
|
||||
'\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -70,28 +70,28 @@ class AcadosSimDims:
|
|||
|
||||
@nx.setter
|
||||
def nx(self, nx):
|
||||
if type(nx) == int and nx > 0:
|
||||
if isinstance(nx, int) and nx > 0:
|
||||
self.__nx = nx
|
||||
else:
|
||||
raise Exception('Invalid nx value, expected positive integer. Exiting.')
|
||||
|
||||
@nz.setter
|
||||
def nz(self, nz):
|
||||
if type(nz) == int and nz > -1:
|
||||
if isinstance(nz, int) and nz > -1:
|
||||
self.__nz = nz
|
||||
else:
|
||||
raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@nu.setter
|
||||
def nu(self, nu):
|
||||
if type(nu) == int and nu > -1:
|
||||
if isinstance(nu, int) and nu > -1:
|
||||
self.__nu = nu
|
||||
else:
|
||||
raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
|
||||
|
||||
@np.setter
|
||||
def np(self, np):
|
||||
if type(np) == int and np > -1:
|
||||
if isinstance(np, int) and np > -1:
|
||||
self.__np = np
|
||||
else:
|
||||
raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
|
||||
|
|
@ -302,6 +302,7 @@ class AcadosSim:
|
|||
self.code_export_directory = 'c_generated_code'
|
||||
"""Path to where code will be exported. Default: `c_generated_code`."""
|
||||
|
||||
self.cython_include_dirs = ''
|
||||
self.__parameter_values = np.array([])
|
||||
|
||||
@property
|
||||
|
|
|
|||
|
|
@ -215,6 +215,24 @@ class AcadosSimSolver:
|
|||
model_name = self.sim_struct.model.name
|
||||
self.model_name = model_name
|
||||
|
||||
# Load acados library to avoid unloading the library.
|
||||
# This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
|
||||
# Unloading a library which uses OpenMP results in a segfault (on any platform?).
|
||||
# see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
|
||||
# or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
|
||||
libacados_name = 'libacados.so'
|
||||
libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
|
||||
self.__acados_lib = CDLL(libacados_filepath)
|
||||
# find out if acados was compiled with OpenMP
|
||||
try:
|
||||
self.__acados_lib_uses_omp = getattr(self.__acados_lib, 'omp_get_thread_num') is not None
|
||||
except AttributeError as e:
|
||||
self.__acados_lib_uses_omp = False
|
||||
if self.__acados_lib_uses_omp:
|
||||
print('acados was compiled with OpenMP.')
|
||||
else:
|
||||
print('acados was compiled without OpenMP.')
|
||||
|
||||
# Ctypes
|
||||
shared_lib = f'{code_export_dir}/libacados_sim_solver_{model_name}.so'
|
||||
self.shared_lib = CDLL(shared_lib)
|
||||
|
|
|
|||
|
|
@ -95,6 +95,7 @@ cdef extern from "acados_c/ocp_nlp_interface.h":
|
|||
|
||||
# solver
|
||||
void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out)
|
||||
void ocp_nlp_eval_param_sens(ocp_nlp_solver *solver, char *field, int stage, int index, ocp_nlp_out *sens_nlp_out)
|
||||
void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in_, ocp_nlp_out *nlp_out)
|
||||
|
||||
# get/set
|
||||
|
|
|
|||
|
|
@ -125,134 +125,134 @@
|
|||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{# acados flags #}
|
||||
ACADOS_FLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_QPOASES
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_OSQP
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
|
||||
ACADOS_FLAGS += -DACADOS_WITH_QPDUNES
|
||||
{%- endif %}
|
||||
# # Debugging
|
||||
# ACADOS_FLAGS += -g3
|
||||
# define sources and use make's implicit rules to generate object files (*.o)
|
||||
|
||||
MODEL_OBJ=
|
||||
# model
|
||||
MODEL_SRC=
|
||||
{%- if solver_options.integrator_type == "ERK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.o
|
||||
{%- endif %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "IRK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
|
||||
{%- endif %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.o
|
||||
{%- endif %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.o
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" %}
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.o
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.o
|
||||
{%- endif %}
|
||||
{%- else %}
|
||||
MODEL_OBJ+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
|
||||
{%- endif %}
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
|
||||
{%- endif %}
|
||||
{%- else %}
|
||||
MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
MODEL_OBJ := $(MODEL_SRC:.c=.o)
|
||||
|
||||
|
||||
OCP_OBJ=
|
||||
# optimal control problem - mostly CasADi exports
|
||||
OCP_SRC=
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.o
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_constraint.c
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.o
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.c
|
||||
{%- endif %}
|
||||
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.o
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.o
|
||||
{%- endif %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt.c
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.o
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.o
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_OBJ+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.o
|
||||
{%- endif %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
|
||||
{%- elif cost_type_0 == "EXTERNAL" %}
|
||||
{% if cost.cost_ext_fun_type_0 == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
|
||||
{% else %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
|
||||
{% endif %}
|
||||
{%- if cost.cost_ext_fun_type_0 == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun_jac_hess.c
|
||||
{%- else %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
|
||||
{%- elif cost_type == "EXTERNAL" %}
|
||||
{% if cost.cost_ext_fun_type == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
|
||||
{% elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
|
||||
{% endif %}
|
||||
{%- if cost.cost_ext_fun_type == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun_jac_hess.c
|
||||
{%- elif cost.cost_source_ext_cost != cost.cost_source_ext_cost_0 %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
|
||||
{%- elif cost_type_e == "EXTERNAL" %}
|
||||
{% if cost.cost_ext_fun_type_e == "casadi" %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
|
||||
{% elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
|
||||
OCP_OBJ+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
|
||||
{% endif %}
|
||||
{%- if cost.cost_ext_fun_type_e == "casadi" %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac.c
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
|
||||
{%- elif cost.cost_source_ext_cost_e != cost.cost_source_ext_cost_0 %}
|
||||
OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
OCP_OBJ+= acados_solver_{{ model.name }}.o
|
||||
OCP_SRC+= acados_solver_{{ model.name }}.c
|
||||
OCP_OBJ := $(OCP_SRC:.c=.o)
|
||||
|
||||
# for sim solver
|
||||
SIM_SRC= acados_sim_solver_{{ model.name }}.c
|
||||
SIM_OBJ := $(SIM_SRC:.c=.o)
|
||||
|
||||
SIM_OBJ=
|
||||
SIM_OBJ+= acados_sim_solver_{{ model.name }}.o
|
||||
# for target example
|
||||
EX_SRC= main_{{ model.name }}.c
|
||||
EX_OBJ := $(EX_SRC:.c=.o)
|
||||
EX_EXE := $(EX_SRC:.c=)
|
||||
|
||||
EX_OBJ=
|
||||
EX_OBJ+= main_{{ model.name }}.o
|
||||
|
||||
EX_SIM_OBJ=
|
||||
EX_SIM_OBJ+= main_sim_{{ model.name }}.o
|
||||
# for target example_sim
|
||||
EX_SIM_SRC= main_sim_{{ model.name }}.c
|
||||
EX_SIM_OBJ := $(EX_SIM_SRC:.c=.o)
|
||||
EX_SIM_EXE := $(EX_SIM_SRC:.c=)
|
||||
|
||||
# combine model, sim and ocp object files
|
||||
OBJ=
|
||||
OBJ+= $(MODEL_OBJ)
|
||||
{%- if solver_options.integrator_type != "DISCRETE" %}
|
||||
|
|
@ -271,233 +271,103 @@ EXTERNAL_LIB+= {{ model_external_shared_lib_name }}
|
|||
INCLUDE_PATH = {{ acados_include_path }}
|
||||
LIB_PATH = {{ acados_lib_path }}
|
||||
|
||||
{%- if solver_options.integrator_type == "DISCRETE" %}
|
||||
all: clean casadi_fun example
|
||||
# preprocessor flags for make's implicit rules
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
CPPFLAGS += -DACADOS_WITH_QPOASES
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
|
||||
CPPFLAGS += -DACADOS_WITH_OSQP
|
||||
{%- endif %}
|
||||
{%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" %}
|
||||
CPPFLAGS += -DACADOS_WITH_QPDUNES
|
||||
{%- endif %}
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/acados
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/blasfeo/include
|
||||
CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
{# c-compiler flags #}
|
||||
# define the c-compiler flags for make's implicit rules
|
||||
CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
|
||||
# # Debugging
|
||||
# CFLAGS += -g3
|
||||
|
||||
# linker flags
|
||||
LDFLAGS+= -L$(LIB_PATH)
|
||||
|
||||
# link to libraries
|
||||
LDLIBS+= -lacados
|
||||
LDLIBS+= -lhpipm
|
||||
LDLIBS+= -lblasfeo
|
||||
LDLIBS+= -lm
|
||||
LDLIBS+= {{ link_libs }}
|
||||
|
||||
# libraries
|
||||
LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
|
||||
LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
|
||||
LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
|
||||
|
||||
# virtual targets
|
||||
.PHONY : all clean
|
||||
|
||||
#all: clean example_sim example shared_lib
|
||||
{% if solver_options.integrator_type == "DISCRETE" -%}
|
||||
all: clean example
|
||||
shared_lib: ocp_shared_lib
|
||||
{%- else %}
|
||||
all: clean casadi_fun example_sim example
|
||||
all: clean example_sim example
|
||||
shared_lib: bundled_shared_lib ocp_shared_lib sim_shared_lib
|
||||
{%- endif %}
|
||||
|
||||
CASADI_MODEL_SOURCE=
|
||||
{%- if solver_options.integrator_type == "ERK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_vde_forw.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_expl_ode_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "IRK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "LIFTED_IRK" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun.c
|
||||
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
|
||||
# CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_jac_x_xdot_u_z.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_impl_dae_hess.c
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_fun_jac_y.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_phi_jac_y_uhat.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_gnsf_get_matrices_fun.c
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" and model.dyn_ext_fun_type == "casadi" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun.c
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_MODEL_SOURCE+= {{ model.name }}_dyn_disc_phi_fun_jac_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
CASADI_CON_PHI_SOURCE=
|
||||
CASADI_CON_PHI_SOURCE+= {{ model.name }}_phi_constraint.c
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
CASADI_CON_PHI_E_SOURCE=
|
||||
CASADI_CON_PHI_E_SOURCE+= {{ model.name }}_phi_e_constraint.c
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
CASADI_CON_H_SOURCE=
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt.c
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_CON_H_SOURCE+= {{ model.name }}_constr_h_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
# some linker targets
|
||||
example: $(EX_OBJ) $(OBJ)
|
||||
$(CC) $^ -o $(EX_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
example_sim: $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ)
|
||||
$(CC) $^ -o $(EX_SIM_EXE) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
{% if solver_options.integrator_type != "DISCRETE" -%}
|
||||
bundled_shared_lib: $(OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
{%- endif %}
|
||||
|
||||
{%- if dims_nh_e > 0 %}
|
||||
CASADI_CON_H_E_SOURCE=
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt.c
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun.c
|
||||
{%- if hessian_approx == "EXACT" %}
|
||||
CASADI_CON_H_E_SOURCE+= {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess.c
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
ocp_shared_lib: $(OCP_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_OCP_SOLVER) $(LDFLAGS) $(LDLIBS) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB)
|
||||
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_SOURCE=
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun.c
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_SOURCE+= {{ model.name }}_cost_y_hess.c
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_E_SOURCE=
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun.c
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_E_SOURCE+= {{ model.name }}_cost_y_e_hess.c
|
||||
{%- endif %}
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
CASADI_COST_Y_0_SOURCE=
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun.c
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_fun_jac_ut_xt.c
|
||||
CASADI_COST_Y_0_SOURCE+= {{ model.name }}_cost_y_0_hess.c
|
||||
{%- endif %}
|
||||
|
||||
casadi_fun:
|
||||
{%- if model.dyn_ext_fun_type == "casadi" %}
|
||||
( cd {{ model.name }}_model {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_MODEL_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGP" and dims_nphi > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGP" and dims_nphi_e > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_PHI_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type == "BGH" and dims_nh > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if constr_type_e == "BGH" and dims_nh_e > 0 %}
|
||||
( cd {{ model.name }}_constraints {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_CON_H_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type_e == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_E_SOURCE))
|
||||
{%- endif %}
|
||||
{%- if cost_type_0 == "NONLINEAR_LS" %}
|
||||
( cd {{ model.name }}_cost {{ control }} gcc $(ACADOS_FLAGS) -c $(CASADI_COST_Y_0_SOURCE))
|
||||
{%- endif %}
|
||||
|
||||
main:
|
||||
gcc $(ACADOS_FLAGS) -c main_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
main_sim:
|
||||
gcc $(ACADOS_FLAGS) -c main_sim_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/
|
||||
|
||||
ocp_solver:
|
||||
gcc $(ACADOS_FLAGS) -c acados_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
sim_solver:
|
||||
gcc $(ACADOS_FLAGS) -c acados_sim_solver_{{ model.name }}.c -I $(INCLUDE_PATH)/blasfeo/include/ -I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) -I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
|
||||
example: ocp_solver main
|
||||
gcc $(ACADOS_FLAGS) -o main_{{ model.name }} $(EX_OBJ) $(OBJ) -L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I $(INCLUDE_PATH)/acados/ \
|
||||
{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
|
||||
-I $(INCLUDE_PATH)/qpOASES_e/
|
||||
{%- endif %}
|
||||
sim_shared_lib: $(SIM_OBJ) $(MODEL_OBJ)
|
||||
$(CC) -shared $^ -o $(LIBACADOS_SIM_SOLVER) $(LDFLAGS) $(LDLIBS)
|
||||
|
||||
|
||||
example_sim: sim_solver main_sim
|
||||
gcc $(ACADOS_FLAGS) -o main_sim_{{ model.name }} $(EX_SIM_OBJ) $(MODEL_OBJ) $(SIM_OBJ) -L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/acados/ \
|
||||
|
||||
{%- if solver_options.integrator_type != "DISCRETE" %}
|
||||
|
||||
bundled_shared_lib: casadi_fun ocp_solver sim_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_solver_{{ model.name }}.so $(OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L $(LIB_PATH) \
|
||||
-lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
ocp_shared_lib: casadi_fun ocp_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
{%- else %}
|
||||
|
||||
ocp_shared_lib: casadi_fun ocp_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_ocp_solver_{{ model.name }}.so $(OCP_OBJ) $(MODEL_OBJ) \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
{%- endif %}
|
||||
|
||||
# Cython targets
|
||||
ocp_cython_c: ocp_shared_lib
|
||||
cython \
|
||||
-o acados_ocp_solver_pyx.c \
|
||||
-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
|
||||
$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_ocp_solver_pyx.pyx \
|
||||
-I {{ code_export_directory }} \
|
||||
|
||||
ocp_cython_o: ocp_cython_c
|
||||
clang $(ACADOS_FLAGS) -c -O2 \
|
||||
$(CC) $(ACADOS_FLAGS) -c -O2 \
|
||||
-fPIC \
|
||||
-o acados_ocp_solver_pyx.o \
|
||||
-I /usr/include/python3.8 \
|
||||
-I $(INCLUDE_PATH)/blasfeo/include/ \
|
||||
-I $(INCLUDE_PATH)/hpipm/include/ \
|
||||
-I $(INCLUDE_PATH) \
|
||||
-I {{ cython_include_dirs }} \
|
||||
acados_ocp_solver_pyx.c \
|
||||
|
||||
ocp_cython: ocp_cython_o
|
||||
clang $(ACADOS_FLAGS) -shared \
|
||||
$(CC) $(ACADOS_FLAGS) -shared \
|
||||
-o acados_ocp_solver_pyx.so \
|
||||
-Wl,-rpath=$(LIB_PATH) \
|
||||
acados_ocp_solver_pyx.o \
|
||||
$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo -lqpOASES_e \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
|
||||
sim_shared_lib: casadi_fun sim_solver
|
||||
gcc $(ACADOS_FLAGS) -shared -o libacados_sim_solver_{{ model.name }}.so $(SIM_OBJ) $(MODEL_OBJ) -L$(EXTERNAL_DIR) -l$(EXTERNAL_LIB) \
|
||||
-L $(LIB_PATH) -lacados -lhpipm -lblasfeo \
|
||||
{{ link_libs }} \
|
||||
-lm \
|
||||
$(LDFLAGS) $(LDLIBS)
|
||||
|
||||
{%- if os and os == "pc" %}
|
||||
|
||||
|
|
@ -510,15 +380,27 @@ clean_ocp_shared_lib:
|
|||
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
|
||||
del \Q acados_solver_{{ model.name }}.o 2>nul
|
||||
|
||||
clean_ocp_cython:
|
||||
del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
|
||||
del \Q acados_solver_{{ model.name }}.o 2>nul
|
||||
del \Q acados_ocp_solver_pyx.so 2>nul
|
||||
del \Q acados_ocp_solver_pyx.o 2>nul
|
||||
|
||||
{%- else %}
|
||||
|
||||
clean:
|
||||
rm -f *.o
|
||||
rm -f *.so
|
||||
rm -f main_{{ model.name }}
|
||||
$(RM) $(OBJ) $(EX_OBJ) $(EX_SIM_OBJ)
|
||||
$(RM) $(LIBACADOS_SOLVER) $(LIBACADOS_OCP_SOLVER) $(LIBACADOS_SIM_SOLVER)
|
||||
$(RM) $(EX_EXE) $(EX_SIM_EXE)
|
||||
|
||||
clean_ocp_shared_lib:
|
||||
rm -f libacados_ocp_solver_{{ model.name }}.so
|
||||
rm -f acados_solver_{{ model.name }}.o
|
||||
$(RM) $(LIBACADOS_OCP_SOLVER)
|
||||
$(RM) $(OCP_OBJ)
|
||||
|
||||
clean_ocp_cython:
|
||||
$(RM) libacados_ocp_solver_{{ model.name }}.so
|
||||
$(RM) acados_solver_{{ model.name }}.o
|
||||
$(RM) acados_ocp_solver_pyx.so
|
||||
$(RM) acados_ocp_solver_pyx.o
|
||||
|
||||
{%- endif %}
|
||||
|
|
|
|||
|
|
@ -63,7 +63,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
mexPrintf("{{ model.name }}_acados_create() -> success!\n");
|
||||
|
||||
// get pointers to nlp solver related objects
|
||||
ocp_nlp_plan *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
|
||||
ocp_nlp_plan_t *nlp_plan = {{ model.name }}_acados_get_nlp_plan(acados_ocp_capsule);
|
||||
ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(acados_ocp_capsule);
|
||||
ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(acados_ocp_capsule);
|
||||
ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(acados_ocp_capsule);
|
||||
|
|
@ -238,14 +238,18 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
l_ptr[0] = (long long) acados_ocp_capsule->impl_dae_hess;
|
||||
{%- endif %}
|
||||
{% elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
l_ptr = mxGetData(gnsf_phi_fun_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun;
|
||||
l_ptr = mxGetData(gnsf_phi_fun_jac_y_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_fun_jac_y;
|
||||
l_ptr = mxGetData(gnsf_phi_jac_y_uhat_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_phi_jac_y_uhat;
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
l_ptr = mxGetData(gnsf_f_lo_jac_x1_x1dot_u_z_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_f_lo_jac_x1_x1dot_u_z;
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
l_ptr = mxGetData(gnsf_get_matrices_fun_mat);
|
||||
l_ptr[0] = (long long) acados_ocp_capsule->gnsf_get_matrices_fun;
|
||||
{% elif solver_options.integrator_type == "DISCRETE" %}
|
||||
|
|
|
|||
|
|
@ -69,7 +69,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
{{ model.name }}_solver_capsule *capsule = ({{ model.name }}_solver_capsule *) ptr[0];
|
||||
// plan
|
||||
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "plan" ) );
|
||||
ocp_nlp_plan *plan = (ocp_nlp_plan *) ptr[0];
|
||||
ocp_nlp_plan_t *plan = (ocp_nlp_plan_t *) ptr[0];
|
||||
// config
|
||||
ptr = (long long *) mxGetData( mxGetField( C_ocp, 0, "config" ) );
|
||||
ocp_nlp_config *config = (ocp_nlp_config *) ptr[0];
|
||||
|
|
@ -404,7 +404,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_z"))
|
||||
{
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == IRK)
|
||||
{
|
||||
|
|
@ -426,7 +426,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_xdot"))
|
||||
{
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == IRK)
|
||||
{
|
||||
|
|
@ -448,7 +448,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
|
|||
}
|
||||
else if (!strcmp(field, "init_gnsf_phi"))
|
||||
{
|
||||
sim_solver_plan sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
|
||||
sim_solver_t type = sim_plan.sim_solver;
|
||||
if (type == GNSF)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -164,12 +164,17 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
{%- endif %}
|
||||
|
||||
{% elif solver_options.integrator_type == "GNSF" -%}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
|
||||
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
|
||||
capsule->sim_gnsf_phi_fun->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_n_in;
|
||||
capsule->sim_gnsf_phi_fun->casadi_n_out = &{{ model.name }}_gnsf_phi_fun_n_out;
|
||||
|
|
@ -194,6 +199,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
|
||||
external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
|
||||
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_n_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out;
|
||||
|
|
@ -201,6 +207,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
|
||||
external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
|
||||
capsule->sim_gnsf_get_matrices_fun->casadi_fun = &{{ model.name }}_gnsf_get_matrices_fun;
|
||||
capsule->sim_gnsf_get_matrices_fun->casadi_n_in = &{{ model.name }}_gnsf_get_matrices_fun_n_in;
|
||||
|
|
@ -212,7 +220,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
{% endif %}
|
||||
|
||||
// sim plan & config
|
||||
sim_solver_plan plan;
|
||||
sim_solver_plan_t plan;
|
||||
plan.sim_solver = {{ solver_options.integrator_type }};
|
||||
|
||||
// create correct config based on plan
|
||||
|
|
@ -307,14 +315,18 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
|
|||
"expl_ode_hess", capsule->sim_expl_ode_hess);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_fun", capsule->sim_gnsf_phi_fun);
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_fun_jac_y", capsule->sim_gnsf_phi_fun_jac_y);
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"phi_jac_y_uhat", capsule->sim_gnsf_phi_jac_y_uhat);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"f_lo_jac_x1_x1dot_u_z", capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
{{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
|
||||
"gnsf_get_matrices_fun", capsule->sim_gnsf_get_matrices_fun);
|
||||
{%- endif %}
|
||||
|
|
@ -409,10 +421,14 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
|
|||
external_function_param_casadi_free(capsule->sim_expl_ode_hess);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
|
||||
{% endif %}
|
||||
|
||||
|
|
@ -445,10 +461,14 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl
|
|||
capsule->sim_impl_dae_hess[0].set_param(capsule->sim_impl_dae_hess, p);
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
capsule->sim_gnsf_phi_fun[0].set_param(capsule->sim_gnsf_phi_fun, p);
|
||||
capsule->sim_gnsf_phi_fun_jac_y[0].set_param(capsule->sim_gnsf_phi_fun_jac_y, p);
|
||||
capsule->sim_gnsf_phi_jac_y_uhat[0].set_param(capsule->sim_gnsf_phi_jac_y_uhat, p);
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z[0].set_param(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, p);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
capsule->sim_gnsf_get_matrices_fun[0].set_param(capsule->sim_gnsf_get_matrices_fun, p);
|
||||
{% endif %}
|
||||
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@
|
|||
#define MDL_START
|
||||
|
||||
// acados
|
||||
#include "acados/utils/print.h"
|
||||
// #include "acados/utils/print.h"
|
||||
#include "acados_c/ocp_nlp_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
|
|
|
|||
File diff suppressed because it is too large
Load Diff
|
|
@ -78,9 +78,10 @@ typedef struct {{ model.name }}_solver_capsule
|
|||
// acados objects
|
||||
ocp_nlp_in *nlp_in;
|
||||
ocp_nlp_out *nlp_out;
|
||||
ocp_nlp_out *sens_out;
|
||||
ocp_nlp_solver *nlp_solver;
|
||||
void *nlp_opts;
|
||||
ocp_nlp_plan *nlp_solver_plan;
|
||||
ocp_nlp_plan_t *nlp_solver_plan;
|
||||
ocp_nlp_config *nlp_config;
|
||||
ocp_nlp_dims *nlp_dims;
|
||||
|
||||
|
|
@ -186,6 +187,10 @@ int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_c
|
|||
* nlp_solver_plan. Returns 0 if no error occurred and a otherwise a value other than 0.
|
||||
*/
|
||||
int {{ model.name }}_acados_update_time_steps({{ model.name }}_solver_capsule * capsule, int N, double* new_time_steps);
|
||||
/**
|
||||
* This function is used for updating an already initialized solver with a different number of qp_cond_N.
|
||||
*/
|
||||
int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
|
||||
int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
|
||||
int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
|
||||
int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
|
||||
|
|
@ -193,11 +198,12 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsu
|
|||
|
||||
ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule * capsule);
|
||||
void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_plan *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
|
||||
ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule * capsule);
|
||||
|
||||
#ifdef __cplusplus
|
||||
} /* extern "C" */
|
||||
|
|
|
|||
|
|
@ -1,3 +1,36 @@
|
|||
#
|
||||
# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
|
||||
# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
|
||||
# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
|
||||
# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
|
||||
#
|
||||
# This file is part of acados.
|
||||
#
|
||||
# The 2-Clause BSD License
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright notice,
|
||||
# this list of conditions and the following disclaimer.
|
||||
#
|
||||
# 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
# this list of conditions and the following disclaimer in the documentation
|
||||
# and/or other materials provided with the distribution.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
|
||||
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.;
|
||||
#
|
||||
|
||||
cimport acados_solver_common
|
||||
|
||||
cdef extern from "acados_solver_{{ model.name }}.h":
|
||||
|
|
@ -8,6 +41,11 @@ cdef extern from "acados_solver_{{ model.name }}.h":
|
|||
int acados_free_capsule "{{ model.name }}_acados_free_capsule"(nlp_solver_capsule *capsule)
|
||||
|
||||
int acados_create "{{ model.name }}_acados_create"(nlp_solver_capsule * capsule)
|
||||
|
||||
int acados_create_with_discretization "{{ model.name }}_acados_create_with_discretization"(nlp_solver_capsule * capsule, int n_time_steps, double* new_time_steps)
|
||||
int acados_update_time_steps "{{ model.name }}_acados_update_time_steps"(nlp_solver_capsule * capsule, int N, double* new_time_steps)
|
||||
int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
|
||||
|
||||
int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
|
||||
int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
|
||||
int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
|
||||
|
|
@ -15,6 +53,7 @@ cdef extern from "acados_solver_{{ model.name }}.h":
|
|||
|
||||
acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_solver *acados_get_nlp_solver "{{ model.name }}_acados_get_nlp_solver"(nlp_solver_capsule * capsule)
|
||||
acados_solver_common.ocp_nlp_config *acados_get_nlp_config "{{ model.name }}_acados_get_nlp_config"(nlp_solver_capsule * capsule)
|
||||
void *acados_get_nlp_opts "{{ model.name }}_acados_get_nlp_opts"(nlp_solver_capsule * capsule)
|
||||
|
|
|
|||
|
|
@ -37,7 +37,7 @@
|
|||
#define MDL_START
|
||||
|
||||
// acados
|
||||
#include "acados/utils/print.h"
|
||||
// #include "acados/utils/print.h"
|
||||
#include "acados_c/sim_interface.h"
|
||||
#include "acados_c/external_function_interface.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -156,11 +156,12 @@ int main()
|
|||
for (int ii = 0; ii < NTIMINGS; ii++)
|
||||
{
|
||||
// initialize solution
|
||||
for (int i = 0; i <= nlp_dims->N; i++)
|
||||
for (int i = 0; i < N; i++)
|
||||
{
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "x", x_init);
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, i, "u", u0);
|
||||
}
|
||||
ocp_nlp_out_set(nlp_config, nlp_dims, nlp_out, N, "x", x_init);
|
||||
ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "rti_phase", &rti_phase);
|
||||
status = {{ model.name }}_acados_solve(acados_ocp_capsule);
|
||||
ocp_nlp_get(nlp_config, nlp_solver, "time_tot", &elapsed_time);
|
||||
|
|
|
|||
|
|
@ -46,10 +46,14 @@ SOURCES = { ...
|
|||
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c',...
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c',...
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c',...
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c',...
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c',...
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c',...
|
||||
{%- elif solver_options.integrator_type == "DISCRETE" %}
|
||||
'{{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c',...
|
||||
|
|
|
|||
|
|
@ -47,10 +47,14 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
|
|||
'{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
|
||||
{%- endif %}
|
||||
{%- elif solver_options.integrator_type == "GNSF" %}
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
'{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
|
||||
{%- endif %}
|
||||
];
|
||||
|
|
|
|||
|
|
@ -125,15 +125,15 @@ classdef {{ model.name }}_mex_solver < handle
|
|||
if strcmp(field, 'stat')
|
||||
stat = obj.get('stat');
|
||||
{%- if solver_options.nlp_solver_type == "SQP" %}
|
||||
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter');
|
||||
if size(stat,2)>7
|
||||
fprintf('\niter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha');
|
||||
if size(stat,2)>8
|
||||
fprintf('\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp');
|
||||
end
|
||||
fprintf('\n');
|
||||
for jj=1:size(stat,1)
|
||||
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7));
|
||||
if size(stat,2)>7
|
||||
fprintf('\t%e\t%e\t%e\t%e', stat(jj,8), stat(jj,9), stat(jj,10), stat(jj,11));
|
||||
fprintf('%d\t%e\t%e\t%e\t%e\t%d\t%d\t%e', stat(jj,1), stat(jj,2), stat(jj,3), stat(jj,4), stat(jj,5), stat(jj,6), stat(jj,7), stat(jj, 8));
|
||||
if size(stat,2)>8
|
||||
fprintf('\t%e\t%e\t%e\t%e', stat(jj,9), stat(jj,10), stat(jj,11), stat(jj,12));
|
||||
end
|
||||
fprintf('\n');
|
||||
end
|
||||
|
|
|
|||
|
|
@ -90,14 +90,7 @@ int {{ model.name }}_impl_dae_hess_n_out(void);
|
|||
|
||||
{% elif solver_options.integrator_type == "GNSF" %}
|
||||
/* GNSF Functions */
|
||||
// used to import model matrices
|
||||
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
|
||||
|
||||
{% if model.gnsf.purely_linear != 1 %}
|
||||
// phi_fun
|
||||
int {{ model.name }}_gnsf_phi_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_phi_fun_work(int *, int *, int *, int *);
|
||||
|
|
@ -121,7 +114,7 @@ const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in(int);
|
|||
const int *{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_in(void);
|
||||
int {{ model.name }}_gnsf_phi_jac_y_uhat_n_out(void);
|
||||
|
||||
{% if model.gnsf.nontrivial_f_LO == 1 %}
|
||||
// f_lo_fun_jac_x1k1uz
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work(int *, int *, int *, int *);
|
||||
|
|
@ -129,6 +122,15 @@ const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in(int);
|
|||
const int *{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_in(void);
|
||||
int {{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_n_out(void);
|
||||
{%- endif %}
|
||||
{%- endif %}
|
||||
// used to import model matrices
|
||||
int {{ model.name }}_gnsf_get_matrices_fun(const double** arg, double** res, int* iw, double* w, void *mem);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_work(int *, int *, int *, int *);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_in(int);
|
||||
const int *{{ model.name }}_gnsf_get_matrices_fun_sparsity_out(int);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_in(void);
|
||||
int {{ model.name }}_gnsf_get_matrices_fun_n_out(void);
|
||||
|
||||
{% elif solver_options.integrator_type == "ERK" %}
|
||||
/* explicit ODE */
|
||||
|
|
|
|||
|
|
@ -254,22 +254,6 @@ def format_class_dict(d):
|
|||
return out
|
||||
|
||||
|
||||
def acados_class2dict(class_instance):
|
||||
"""
|
||||
removes the __ artifact from class to dict conversion
|
||||
"""
|
||||
|
||||
d = dict(class_instance.__dict__)
|
||||
out = {}
|
||||
for k, v in d.items():
|
||||
if isinstance(v, dict):
|
||||
v = format_class_dict(v)
|
||||
|
||||
out_key = k.split('__', 1)[-1]
|
||||
out[k.replace(k, out_key)] = v
|
||||
return out
|
||||
|
||||
|
||||
def get_ocp_nlp_layout():
|
||||
python_interface_path = get_python_interface_path()
|
||||
abs_path = os.path.join(python_interface_path, 'acados_layout.json')
|
||||
|
|
@ -433,6 +417,13 @@ def set_up_imported_gnsf_model(acados_formulation):
|
|||
acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
|
||||
acados_formulation.model.get_matrices_fun = get_matrices_fun
|
||||
|
||||
# get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
|
||||
# {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
|
||||
# nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
|
||||
get_matrices_out = get_matrices_fun(0)
|
||||
acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
|
||||
acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13])
|
||||
|
||||
if "f_lo_fun_jac_x1k1uz" in gnsf:
|
||||
f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
|
||||
acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
|
||||
|
|
|
|||
|
|
@ -1,7 +1,7 @@
|
|||
#pragma once
|
||||
|
||||
#ifdef SWAGLOG
|
||||
#include "selfdrive/common/swaglog.h"
|
||||
#include SWAGLOG
|
||||
#else
|
||||
|
||||
#define CLOUDLOG_DEBUG 10
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@ site_scons/site_tools/cython.py
|
|||
|
||||
common/.gitignore
|
||||
common/__init__.py
|
||||
common/conversions.py
|
||||
common/gpio.py
|
||||
common/realtime.py
|
||||
common/clock.pyx
|
||||
|
|
@ -69,12 +70,10 @@ installer/updater/updater
|
|||
selfdrive/version.py
|
||||
|
||||
selfdrive/__init__.py
|
||||
selfdrive/config.py
|
||||
selfdrive/sentry.py
|
||||
selfdrive/swaglog.py
|
||||
selfdrive/logmessaged.py
|
||||
selfdrive/tombstoned.py
|
||||
selfdrive/pandad.py
|
||||
selfdrive/updated.py
|
||||
selfdrive/rtshield.py
|
||||
selfdrive/statsd.py
|
||||
|
|
@ -98,8 +97,10 @@ selfdrive/boardd/panda.h
|
|||
selfdrive/boardd/pigeon.cc
|
||||
selfdrive/boardd/pigeon.h
|
||||
selfdrive/boardd/set_time.py
|
||||
selfdrive/boardd/pandad.py
|
||||
|
||||
selfdrive/car/__init__.py
|
||||
selfdrive/car/docs_definitions.py
|
||||
selfdrive/car/car_helpers.py
|
||||
selfdrive/car/fingerprints.py
|
||||
selfdrive/car/interfaces.py
|
||||
|
|
@ -336,11 +337,11 @@ selfdrive/sensord/sensord
|
|||
|
||||
selfdrive/thermald/thermald.py
|
||||
selfdrive/thermald/power_monitoring.py
|
||||
selfdrive/thermald/fan_controller.py
|
||||
|
||||
selfdrive/test/__init__.py
|
||||
selfdrive/test/helpers.py
|
||||
selfdrive/test/setup_device_ci.sh
|
||||
selfdrive/test/test_fingerprints.py
|
||||
selfdrive/test/test_onroad.py
|
||||
|
||||
selfdrive/ui/.gitignore
|
||||
|
|
@ -423,10 +424,13 @@ selfdrive/modeld/transforms/transform.cc
|
|||
selfdrive/modeld/transforms/transform.h
|
||||
selfdrive/modeld/transforms/transform.cl
|
||||
|
||||
selfdrive/modeld/thneed/*.py
|
||||
selfdrive/modeld/thneed/thneed.*
|
||||
selfdrive/modeld/thneed/serialize.cc
|
||||
selfdrive/modeld/thneed/compile.cc
|
||||
selfdrive/modeld/thneed/optimizer.cc
|
||||
selfdrive/modeld/thneed/include/*
|
||||
selfdrive/modeld/thneed/kernels/*.cl
|
||||
|
||||
selfdrive/modeld/runners/snpemodel.cc
|
||||
selfdrive/modeld/runners/snpemodel.h
|
||||
|
|
|
|||
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Before Width: | Height: | Size: 40 KiB After Width: | Height: | Size: 36 KiB |
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Reference in New Issue