246 lines
8.8 KiB
Python
246 lines
8.8 KiB
Python
import os
|
|
import time
|
|
from typing import Dict
|
|
|
|
from cereal import car
|
|
from common.kalman.simple_kalman import KF1D
|
|
from common.realtime import DT_CTRL
|
|
from selfdrive.car import gen_empty_fingerprint
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
|
|
from selfdrive.controls.lib.events import Events
|
|
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
|
|
|
GearShifter = car.CarState.GearShifter
|
|
EventName = car.CarEvent.EventName
|
|
|
|
# WARNING: this value was determined based on the model's training distribution,
|
|
# model predictions above this speed can be unpredictable
|
|
MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS # 135 + 4 = 86 mph
|
|
ACCEL_MAX = 2.0
|
|
ACCEL_MIN = -3.5
|
|
|
|
|
|
# generic car and radar interfaces
|
|
|
|
|
|
class CarInterfaceBase():
|
|
def __init__(self, CP, CarController, CarState):
|
|
self.CP = CP
|
|
self.VM = VehicleModel(CP)
|
|
|
|
self.frame = 0
|
|
self.steer_warning = 0
|
|
self.steering_unpressed = 0
|
|
self.low_speed_alert = False
|
|
|
|
if CarState is not None:
|
|
self.CS = CarState(CP)
|
|
self.cp = self.CS.get_can_parser(CP)
|
|
self.cp_cam = self.CS.get_cam_can_parser(CP)
|
|
self.cp_body = self.CS.get_body_can_parser(CP)
|
|
|
|
self.CC = None
|
|
if CarController is not None:
|
|
self.CC = CarController(self.cp.dbc_name, CP, self.VM)
|
|
|
|
@staticmethod
|
|
def get_pid_accel_limits(CP, current_speed, cruise_speed):
|
|
return ACCEL_MIN, ACCEL_MAX
|
|
|
|
@staticmethod
|
|
def calc_accel_override(a_ego, a_target, v_ego, v_target):
|
|
return 1.
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
|
|
raise NotImplementedError
|
|
|
|
@staticmethod
|
|
def init(CP, logcan, sendcan):
|
|
pass
|
|
|
|
# returns a set of default params to avoid repetition in car specific params
|
|
@staticmethod
|
|
def get_std_params(candidate, fingerprint):
|
|
ret = car.CarParams.new_message()
|
|
ret.carFingerprint = candidate
|
|
|
|
# standard ALC params
|
|
ret.steerControlType = car.CarParams.SteerControlType.torque
|
|
ret.steerMaxBP = [0.]
|
|
ret.steerMaxV = [1.]
|
|
ret.minSteerSpeed = 0.
|
|
|
|
ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
|
|
ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
|
|
ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
|
|
ret.openpilotLongitudinalControl = False
|
|
ret.startAccel = 0.0
|
|
ret.minSpeedCan = 0.3
|
|
ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
|
|
ret.startingAccelRate = 3.2 # brake_travel/s while releasing on restart
|
|
ret.stoppingControl = True
|
|
ret.longitudinalTuning.deadzoneBP = [0.]
|
|
ret.longitudinalTuning.deadzoneV = [0.]
|
|
ret.longitudinalTuning.kpBP = [0.]
|
|
ret.longitudinalTuning.kpV = [1.]
|
|
ret.longitudinalTuning.kiBP = [0.]
|
|
ret.longitudinalTuning.kiV = [1.]
|
|
ret.longitudinalActuatorDelay = 0.15
|
|
return ret
|
|
|
|
# returns a car.CarState, pass in car.CarControl
|
|
def update(self, c, can_strings):
|
|
raise NotImplementedError
|
|
|
|
# return sendcan, pass in a car.CarControl
|
|
def apply(self, c):
|
|
raise NotImplementedError
|
|
|
|
def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
|
|
events = Events()
|
|
|
|
if cs_out.doorOpen:
|
|
events.add(EventName.doorOpen)
|
|
if cs_out.seatbeltUnlatched:
|
|
events.add(EventName.seatbeltNotLatched)
|
|
if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
|
|
cs_out.gearShifter not in extra_gears):
|
|
events.add(EventName.wrongGear)
|
|
if cs_out.gearShifter == GearShifter.reverse:
|
|
events.add(EventName.reverseGear)
|
|
if not cs_out.cruiseState.available:
|
|
events.add(EventName.wrongCarMode)
|
|
if cs_out.espDisabled:
|
|
events.add(EventName.espDisabled)
|
|
if cs_out.gasPressed:
|
|
events.add(EventName.gasPressed)
|
|
if cs_out.stockFcw:
|
|
events.add(EventName.stockFcw)
|
|
if cs_out.stockAeb:
|
|
events.add(EventName.stockAeb)
|
|
if cs_out.vEgo > MAX_CTRL_SPEED:
|
|
events.add(EventName.speedTooHigh)
|
|
if cs_out.cruiseState.nonAdaptive:
|
|
events.add(EventName.wrongCruiseMode)
|
|
|
|
self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
|
|
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
|
|
|
|
# Handle permanent and temporary steering faults
|
|
if cs_out.steerError:
|
|
events.add(EventName.steerUnavailable)
|
|
elif cs_out.steerWarning:
|
|
# only escalate to the harsher alert after the condition has
|
|
# persisted for 0.5s and we're certain that the user isn't overriding
|
|
if self.steering_unpressed > int(0.5/DT_CTRL) and self.steer_warning > int(0.5/DT_CTRL):
|
|
events.add(EventName.steerTempUnavailable)
|
|
else:
|
|
events.add(EventName.steerTempUnavailableSilent)
|
|
|
|
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
|
|
# Optionally allow to press gas at zero speed to resume.
|
|
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
|
|
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
|
|
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
|
|
events.add(EventName.pedalPressed)
|
|
|
|
# we engage when pcm is active (rising edge)
|
|
if pcm_enable:
|
|
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
|
|
events.add(EventName.pcmEnable)
|
|
elif not cs_out.cruiseState.enabled:
|
|
events.add(EventName.pcmDisable)
|
|
|
|
return events
|
|
|
|
|
|
class RadarInterfaceBase():
|
|
def __init__(self, CP):
|
|
self.pts = {}
|
|
self.delay = 0
|
|
self.radar_ts = CP.radarTimeStep
|
|
self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
|
|
|
|
def update(self, can_strings):
|
|
ret = car.RadarData.new_message()
|
|
if not self.no_radar_sleep:
|
|
time.sleep(self.radar_ts) # radard runs on RI updates
|
|
return ret
|
|
|
|
|
|
class CarStateBase:
|
|
def __init__(self, CP):
|
|
self.CP = CP
|
|
self.car_fingerprint = CP.carFingerprint
|
|
self.out = car.CarState.new_message()
|
|
|
|
self.cruise_buttons = 0
|
|
self.left_blinker_cnt = 0
|
|
self.right_blinker_cnt = 0
|
|
self.left_blinker_prev = False
|
|
self.right_blinker_prev = False
|
|
|
|
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
|
|
# R = 1e3
|
|
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
|
|
A=[[1.0, DT_CTRL], [0.0, 1.0]],
|
|
C=[1.0, 0.0],
|
|
K=[[0.12287673], [0.29666309]])
|
|
|
|
def update_speed_kf(self, v_ego_raw):
|
|
if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
|
self.v_ego_kf.x = [[v_ego_raw], [0.0]]
|
|
|
|
v_ego_x = self.v_ego_kf.update(v_ego_raw)
|
|
return float(v_ego_x[0]), float(v_ego_x[1])
|
|
|
|
def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
|
|
"""Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
|
|
iterations"""
|
|
# TODO: Handle case when switching direction. Now both blinkers can be on at the same time
|
|
self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
|
|
self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
|
|
return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
|
|
|
|
def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
|
|
"""Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
|
|
or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
|
|
is forced to the other side. On a rising edge of the stalk the timeout is reset."""
|
|
|
|
if left_blinker_stalk:
|
|
self.right_blinker_cnt = 0
|
|
if not self.left_blinker_prev:
|
|
self.left_blinker_cnt = blinker_time
|
|
|
|
if right_blinker_stalk:
|
|
self.left_blinker_cnt = 0
|
|
if not self.right_blinker_prev:
|
|
self.right_blinker_cnt = blinker_time
|
|
|
|
self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0)
|
|
self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0)
|
|
|
|
self.left_blinker_prev = left_blinker_stalk
|
|
self.right_blinker_prev = right_blinker_stalk
|
|
|
|
return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
|
|
|
|
@staticmethod
|
|
def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
|
|
d: Dict[str, car.CarState.GearShifter] = {
|
|
'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
|
|
'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
|
|
'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
|
|
}
|
|
return d.get(gear, GearShifter.unknown)
|
|
|
|
@staticmethod
|
|
def get_cam_can_parser(CP):
|
|
return None
|
|
|
|
@staticmethod
|
|
def get_body_can_parser(CP):
|
|
return None
|