160 lines
5.5 KiB
Python
160 lines
5.5 KiB
Python
from cereal import car
|
|
from opendbc.can.parser import CANParser
|
|
from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
|
|
from common.kalman.simple_kalman import KF1D
|
|
|
|
GearShifter = car.CarState.GearShifter
|
|
|
|
def parse_gear_shifter(can_gear):
|
|
if can_gear == 0x1:
|
|
return GearShifter.park
|
|
elif can_gear == 0x2:
|
|
return GearShifter.reverse
|
|
elif can_gear == 0x3:
|
|
return GearShifter.neutral
|
|
elif can_gear == 0x4:
|
|
return GearShifter.drive
|
|
elif can_gear == 0x5:
|
|
return GearShifter.low
|
|
return GearShifter.unknown
|
|
|
|
|
|
def get_can_parser(CP):
|
|
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
("PRNDL", "GEAR", 0),
|
|
("DOOR_OPEN_FL", "DOORS", 0),
|
|
("DOOR_OPEN_FR", "DOORS", 0),
|
|
("DOOR_OPEN_RL", "DOORS", 0),
|
|
("DOOR_OPEN_RR", "DOORS", 0),
|
|
("BRAKE_PRESSED_2", "BRAKE_2", 0),
|
|
("ACCEL_134", "ACCEL_GAS_134", 0),
|
|
("SPEED_LEFT", "SPEED_1", 0),
|
|
("SPEED_RIGHT", "SPEED_1", 0),
|
|
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
|
|
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
|
|
("STEER_ANGLE", "STEERING", 0),
|
|
("STEERING_RATE", "STEERING", 0),
|
|
("TURN_SIGNALS", "STEERING_LEVERS", 0),
|
|
("ACC_STATUS_2", "ACC_2", 0),
|
|
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
|
|
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
|
|
("TORQUE_DRIVER", "EPS_STATUS", 0),
|
|
("TORQUE_MOTOR", "EPS_STATUS", 0),
|
|
("LKAS_STATE", "EPS_STATUS", 1),
|
|
("COUNTER", "EPS_STATUS", -1),
|
|
("TRACTION_OFF", "TRACTION_BUTTON", 0),
|
|
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
|
|
("COUNTER", "WHEEL_BUTTONS", -1), # incrementing counter for 23b
|
|
]
|
|
|
|
# It's considered invalid if it is not received for 10x the expected period (1/f).
|
|
checks = [
|
|
# sig_address, frequency
|
|
("BRAKE_2", 50),
|
|
("EPS_STATUS", 100),
|
|
("SPEED_1", 100),
|
|
("WHEEL_SPEEDS", 50),
|
|
("STEERING", 100),
|
|
("ACC_2", 50),
|
|
]
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
|
|
|
|
def get_camera_parser(CP):
|
|
signals = [
|
|
# sig_name, sig_address, default
|
|
# TODO read in all the other values
|
|
("COUNTER", "LKAS_COMMAND", -1),
|
|
("CAR_MODEL", "LKAS_HUD", -1),
|
|
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
|
|
]
|
|
checks = []
|
|
|
|
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
|
|
|
|
|
|
class CarState():
|
|
def __init__(self, CP):
|
|
|
|
self.CP = CP
|
|
self.left_blinker_on = 0
|
|
self.right_blinker_on = 0
|
|
|
|
# initialize can parser
|
|
self.car_fingerprint = CP.carFingerprint
|
|
|
|
# vEgo kalman filter
|
|
dt = 0.01
|
|
# 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], [0.0, 1.0]],
|
|
C=[1.0, 0.0],
|
|
K=[[0.12287673], [0.29666309]])
|
|
self.v_ego = 0.0
|
|
|
|
|
|
def update(self, cp, cp_cam):
|
|
|
|
# update prevs, update must run once per loop
|
|
self.prev_left_blinker_on = self.left_blinker_on
|
|
self.prev_right_blinker_on = self.right_blinker_on
|
|
|
|
self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
|
|
self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
|
|
|
|
self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
|
|
cp.vl["DOORS"]['DOOR_OPEN_FR'],
|
|
cp.vl["DOORS"]['DOOR_OPEN_RL'],
|
|
cp.vl["DOORS"]['DOOR_OPEN_RR']])
|
|
self.seatbelt = (cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 0)
|
|
|
|
self.brake_pressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
|
|
self.pedal_gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
|
|
self.car_gas = self.pedal_gas
|
|
self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
|
|
|
|
self.v_wheel_fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
|
|
self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
|
|
self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
|
|
self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
|
|
v_wheel = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
|
|
|
|
# Kalman filter
|
|
if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
|
|
self.v_ego_kf.x = [[v_wheel], [0.0]]
|
|
|
|
self.v_ego_raw = v_wheel
|
|
v_ego_x = self.v_ego_kf.update(v_wheel)
|
|
self.v_ego = float(v_ego_x[0])
|
|
self.a_ego = float(v_ego_x[1])
|
|
self.standstill = not v_wheel > 0.001
|
|
|
|
self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE']
|
|
self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE']
|
|
self.gear_shifter = parse_gear_shifter(cp.vl['GEAR']['PRNDL'])
|
|
self.main_on = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
|
|
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
|
|
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
|
|
|
|
self.steer_torque_driver = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
|
|
self.steer_torque_motor = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
|
|
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
|
|
steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
|
|
self.steer_error = steer_state == 4 or (steer_state == 0 and self.v_ego > self.CP.minSteerSpeed)
|
|
|
|
self.user_brake = 0
|
|
self.brake_lights = self.brake_pressed
|
|
self.v_cruise_pcm = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH']
|
|
self.pcm_acc_status = self.main_on
|
|
|
|
self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
|
|
|
|
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
|
|
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
|
|
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
|