196 lines
6.6 KiB
Python
196 lines
6.6 KiB
Python
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.subaru.values import CAR
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from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.frame = 0
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self.acc_active_prev = 0
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self.gas_pressed_prev = False
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# *** init the major players ***
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self.CS = CarState(CP)
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self.VM = VehicleModel(CP)
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self.pt_cp = get_powertrain_can_parser(CP)
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self.cam_cp = get_camera_can_parser(CP)
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self.gas_pressed_prev = False
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self.CC = None
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if CarController is not None:
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self.CC = CarController(CP.carFingerprint)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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ret = car.CarParams.new_message()
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ret.carName = "subaru"
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ret.radarOffCan = True
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.safetyModel = car.CarParams.SafetyModel.subaru
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ret.enableCruise = True
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# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
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# was never released
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ret.enableCamera = True
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ret.steerRateCost = 0.7
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ret.steerLimitTimer = 0.4
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if candidate in [CAR.IMPREZA]:
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ret.mass = 1568. + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15
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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.steerControlType = car.CarParams.SteerControlType.torque
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ret.steerRatioRear = 0.
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# testing tuning
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# No long control in subaru
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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# end from gm
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.pt_cp.update_strings(can_strings)
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self.cam_cp.update_strings(can_strings)
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self.CS.update(self.pt_cp, self.cam_cp)
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# create message
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ret = car.CarState.new_message()
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ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.aEgo = self.CS.a_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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# torque and user override. Driver awareness
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# timer resets when the user uses the steering wheel.
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ret.steeringPressed = self.CS.steer_override
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ret.steeringTorque = self.CS.steer_torque_driver
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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ret.gas = self.CS.pedal_gas / 255.
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ret.gasPressed = self.CS.user_gas_pressed
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# cruise state
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ret.cruiseState.enabled = bool(self.CS.acc_active)
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.cruiseState.speedOffset = 0.
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ret.leftBlinker = self.CS.left_blinker_on
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ret.rightBlinker = self.CS.right_blinker_on
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ret.seatbeltUnlatched = self.CS.seatbelt_unlatched
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ret.doorOpen = self.CS.door_open
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buttonEvents = []
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# blinkers
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.leftBlinker
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be.pressed = self.CS.left_blinker_on
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.rightBlinker
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be.pressed = self.CS.right_blinker_on
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buttonEvents.append(be)
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.accelCruise
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buttonEvents.append(be)
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events = []
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.acc_active and not self.acc_active_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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if not self.CS.acc_active:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on gas pedal rising edge
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if (ret.gasPressed and not self.gas_pressed_prev):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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ret.events = events
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# update previous brake/gas pressed
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self.gas_pressed_prev = ret.gasPressed
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self.acc_active_prev = self.CS.acc_active
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# cast to reader so it can't be modified
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return ret.as_reader()
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel, c.hudControl.visualAlert,
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c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
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self.frame += 1
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return can_sends
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