314 lines
9.9 KiB
Python
Executable File
314 lines
9.9 KiB
Python
Executable File
#!/usr/bin/env python
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import os
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import struct
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import zmq
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import numpy as np
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from opendbc import DBC_PATH
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from common.realtime import Ratekeeper
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from selfdrive.config import Conversions as CV
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import selfdrive.messaging as messaging
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from selfdrive.services import service_list
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from selfdrive.car.honda.hondacan import fix
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from common.fingerprints import HONDA as CAR
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from selfdrive.car.honda.carstate import get_can_signals
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from selfdrive.boardd.boardd import can_capnp_to_can_list, can_list_to_can_capnp
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from selfdrive.car.honda.old_can_parser import CANParser
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from selfdrive.car.honda.interface import CarInterface
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from common.dbc import dbc
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honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
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# Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
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CP = CarInterface.get_params(CAR.CIVIC, {0x201})
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def car_plant(pos, speed, grade, gas, brake):
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# vehicle parameters
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mass = 1700
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aero_cd = 0.3
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force_peak = mass*3.
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force_brake_peak = -mass*10. #1g
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power_peak = 100000 # 100kW
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speed_base = power_peak/force_peak
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rolling_res = 0.01
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g = 9.81
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#frontal_area = 2.2 TODO: use it!
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air_density = 1.225
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gas_to_peak_linear_slope = 3.33
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brake_to_peak_linear_slope = 0.3
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creep_accel_v = [1., 0.]
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creep_accel_bp = [0., 1.5]
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#*** longitudinal model ***
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# find speed where peak torque meets peak power
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force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
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if speed < speed_base: # torque control
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force_gas = gas * force_peak * gas_to_peak_linear_slope
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else: # power control
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force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
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force_grade = - grade * mass # positive grade means uphill
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creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
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force_creep = creep_accel * mass
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force_resistance = -(rolling_res * mass * g + 0.5 * speed**2 * aero_cd * air_density)
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force = force_gas + force_brake + force_resistance + force_grade + force_creep
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acceleration = force / mass
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# TODO: lateral model
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return speed, acceleration
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def get_car_can_parser():
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dbc_f = 'honda_civic_touring_2016_can_generated.dbc'
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signals = [
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("STEER_TORQUE", 0xe4, 0),
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("STEER_TORQUE_REQUEST", 0xe4, 0),
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("COMPUTER_BRAKE", 0x1fa, 0),
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("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
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("GAS_COMMAND", 0x200, 0),
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]
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checks = [
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(0xe4, 100),
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(0x1fa, 50),
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(0x200, 50),
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]
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return CANParser(dbc_f, signals, checks)
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def to_3_byte(x):
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return struct.pack("!H", int(x)).encode("hex")[1:]
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def to_3s_byte(x):
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return struct.pack("!h", int(x)).encode("hex")[1:]
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class Plant(object):
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messaging_initialized = False
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def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
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self.rate = rate
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self.brake_only = False
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if not Plant.messaging_initialized:
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context = zmq.Context()
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Plant.logcan = messaging.pub_sock(context, service_list['can'].port)
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Plant.sendcan = messaging.sub_sock(context, service_list['sendcan'].port)
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Plant.model = messaging.pub_sock(context, service_list['model'].port)
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Plant.cal = messaging.pub_sock(context, service_list['liveCalibration'].port)
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Plant.live100 = messaging.sub_sock(context, service_list['live100'].port)
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Plant.plan = messaging.sub_sock(context, service_list['plan'].port)
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Plant.messaging_initialized = True
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self.angle_steer = 0.
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self.gear_choice = 0
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self.speed, self.speed_prev = 0., 0.
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self.esp_disabled = 0
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self.main_on = 1
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self.user_gas = 0
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self.computer_brake,self.user_brake = 0,0
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self.brake_pressed = 0
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self.angle_steer_rate = 0
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self.distance, self.distance_prev = 0., 0.
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self.speed, self.speed_prev = speed, speed
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self.steer_error, self.brake_error, self.steer_not_allowed = 0, 0, 0
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self.gear_shifter = 8 # D gear
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self.pedal_gas = 0
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self.cruise_setting = 0
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self.seatbelt, self.door_all_closed = True, True
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self.steer_torque, self.v_cruise, self.acc_status = 0, 0, 0 # v_cruise is reported from can, not the one used for controls
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self.lead_relevancy = lead_relevancy
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# lead car
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self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
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self.rk = Ratekeeper(rate, print_delay_threshold=100)
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self.ts = 1./rate
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self.cp = get_car_can_parser()
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def close(self):
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Plant.logcan.close()
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Plant.model.close()
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def speed_sensor(self, speed):
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if speed<0.3:
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return 0
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else:
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return speed * CV.MS_TO_KPH
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def current_time(self):
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return float(self.rk.frame) / self.rate
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def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model = True):
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gen_dbc, gen_signals, gen_checks = get_can_signals(CP)
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sgs = [s[0] for s in gen_signals]
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msgs = [s[1] for s in gen_signals]
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cks_msgs = set(check[0] for check in gen_checks)
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cks_msgs.add(0x18F)
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cks_msgs.add(0x30C)
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# ******** get messages sent to the car ********
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can_msgs = []
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for a in messaging.drain_sock(Plant.sendcan):
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can_msgs.extend(can_capnp_to_can_list(a.sendcan, [0,2]))
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self.cp.update_can(can_msgs)
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# ******** get live100 messages for plotting ***
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live100_msgs = []
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for a in messaging.drain_sock(Plant.live100):
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live100_msgs.append(a.live100)
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fcw = None
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for a in messaging.drain_sock(Plant.plan):
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if a.plan.fcw:
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fcw = True
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if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
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brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
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else:
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brake = 0.0
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if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
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gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
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else:
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gas = 0.0
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if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
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steer_torque = self.cp.vl[0xe4]['STEER_TORQUE']*1.0/0xf00
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else:
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steer_torque = 0.0
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distance_lead = self.distance_lead_prev + v_lead * self.ts
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# ******** run the car ********
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speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
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distance = self.distance_prev + speed * self.ts
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speed = self.speed_prev + self.ts * acceleration
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if speed <= 0:
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speed = 0
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acceleration = 0
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# ******** lateral ********
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self.angle_steer -= (steer_torque/10.0) * self.ts
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# *** radar model ***
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if self.lead_relevancy:
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d_rel = np.maximum(0., distance_lead - distance)
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v_rel = v_lead - speed
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else:
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d_rel = 200.
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v_rel = 0.
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lateral_pos_rel = 0.
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# print at 5hz
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if (self.rk.frame%(self.rate/5)) == 0:
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print "%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel)
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# ******** publish the car ********
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vls = [self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
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self.angle_steer, self.angle_steer_rate, 0,
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0, 0, 0, 0, # Doors
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0, 0, # Blinkers
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0, # Cruise speed offset
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self.gear_choice,
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speed != 0,
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self.brake_error, self.brake_error,
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self.v_cruise,
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not self.seatbelt, self.seatbelt, # Seatbelt
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self.brake_pressed, 0.,
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cruise_buttons,
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self.esp_disabled,
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0, # HUD lead
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self.user_brake,
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self.steer_error,
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self.gear_shifter,
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self.pedal_gas,
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self.cruise_setting,
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self.acc_status,
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self.user_gas,
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self.main_on,
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0, # EPB State
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0, # Brake hold
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0, # Interceptor feedback
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# 0,
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]
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# TODO: publish each message at proper frequency
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can_msgs = []
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for msg in set(msgs):
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msg_struct = {}
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indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
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for i in indxs:
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msg_struct[sgs[i]] = vls[i]
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if "COUNTER" in honda.get_signals(msg):
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msg_struct["COUNTER"] = self.rk.frame % 4
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msg = honda.lookup_msg_id(msg)
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msg_data = honda.encode(msg, msg_struct)
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if "CHECKSUM" in honda.get_signals(msg):
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msg_data = fix(msg_data, msg)
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can_msgs.append([msg, 0, msg_data, 0])
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# add the radar message
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# TODO: use the DBC
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if self.rk.frame % 5 == 0:
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radar_state_msg = '\x79\x00\x00\x00\x00\x00\x00\x00'
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radar_msg = to_3_byte(d_rel*16.0) + \
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to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
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to_3s_byte(int(v_rel*32.0)) + \
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"0f00000"
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can_msgs.append([0x400, 0, radar_state_msg, 1])
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can_msgs.append([0x445, 0, radar_msg.decode("hex"), 1])
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Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes())
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# ******** publish a fake model going straight and fake calibration ********
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# note that this is worst case for MPC, since model will delay long mpc by one time step
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if publish_model and self.rk.frame % 5 == 0:
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md = messaging.new_message()
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cal = messaging.new_message()
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md.init('model')
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cal.init('liveCalibration')
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md.model.frameId = 0
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for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
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x.points = [0.0]*50
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x.prob = 1.0
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x.std = 1.0
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md.model.lead.dist = float(d_rel)
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md.model.lead.prob = 1.
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md.model.lead.std = 0.1
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cal.liveCalibration.calStatus = 1
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cal.liveCalibration.calPerc = 100
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# fake values?
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Plant.model.send(md.to_bytes())
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Plant.cal.send(cal.to_bytes())
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# ******** update prevs ********
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self.speed = speed
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self.distance = distance
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self.distance_lead = distance_lead
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self.speed_prev = speed
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self.distance_prev = distance
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self.distance_lead_prev = distance_lead
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self.rk.keep_time()
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return (distance, speed, acceleration, distance_lead, brake, gas, steer_torque, fcw, live100_msgs)
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# simple engage in standalone mode
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def plant_thread(rate=100):
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plant = Plant(rate)
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while 1:
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plant.step()
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if __name__ == "__main__":
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plant_thread()
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