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Code Issues 67 Packages Projects Releases Wiki Activity

Button-enable cars: common functions for button events (#24678)

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* function for creating button events

* fix

* one line

* alphabetical

alphabetical

* only needed once

* common function for enable events

* add to list

* extend

* fixes

* add type hints

* flip around
pull/214/head
Shane Smiskol 3 years ago committed by GitHub
parent ea5b8cdfb1
commit eed6803ccc
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4 changed files with 56 additions and 103 deletions
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  1. 31
      selfdrive/car/__init__.py
  2. 42
      selfdrive/car/gm/interface.py
  3. 47
      selfdrive/car/honda/interface.py
  4. 39
      selfdrive/car/hyundai/interface.py

31
selfdrive/car/__init__.py
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@ -1,11 +1,40 @@
# functions common among cars # functions common among cars
import capnp
from cereal import car from cereal import car
from common.numpy_fast import clip from common.numpy_fast import clip
from typing import Dict from typing import Dict, List
# kg of standard extra cargo to count for drive, gas, etc... # kg of standard extra cargo to count for drive, gas, etc...
STD_CARGO_KG = 136. STD_CARGO_KG = 136.
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
def create_button_event(cur_but: int, prev_but: int, buttons_dict: Dict[int, capnp.lib.capnp._EnumModule],
unpressed: int = 0) -> capnp.lib.capnp._DynamicStructBuilder:
if cur_but != unpressed:
be = car.CarState.ButtonEvent(pressed=True)
but = cur_but
else:
be = car.CarState.ButtonEvent(pressed=False)
but = prev_but
be.type = buttons_dict.get(but, ButtonType.unknown)
return be
def create_button_enable_events(buttonEvents: capnp.lib.capnp._DynamicListBuilder) -> List[int]:
events = []
for b in buttonEvents:
# do enable on both accel and decel buttons
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.append(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.append(EventName.buttonCancel)
return events
def gen_empty_fingerprint(): def gen_empty_fingerprint():
return {i: {} for i in range(0, 4)} return {i: {} for i in range(0, 4)}

42
selfdrive/car/gm/interface.py
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@ -3,12 +3,15 @@ from cereal import car
from math import fabs from math import fabs
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@staticmethod @staticmethod
@ -159,29 +162,14 @@ class CarInterface(CarInterfaceBase):
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT: if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
be = car.CarState.ButtonEvent.new_message() be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
be.type = ButtonType.unknown
if self.CS.cruise_buttons != CruiseButtons.UNPRESS: # Suppress resume button if we're resuming from stop so we don't adjust speed.
be.pressed = True if be.type == ButtonType.accelCruise and (ret.cruiseState.enabled and ret.standstill):
but = self.CS.cruise_buttons be.type = ButtonType.unknown
else:
be.pressed = False ret.buttonEvents = [be]
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
if not (ret.cruiseState.enabled and ret.standstill):
be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
elif but == CruiseButtons.DECEL_SET:
be.type = ButtonType.decelCruise
elif but == CruiseButtons.CANCEL:
be.type = ButtonType.cancel
elif but == CruiseButtons.MAIN:
be.type = ButtonType.altButton3
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
events = self.create_common_events(ret, pcm_enable=False) events = self.create_common_events(ret, pcm_enable=False)
@ -193,13 +181,7 @@ class CarInterface(CarInterfaceBase):
events.add(car.CarEvent.EventName.belowSteerSpeed) events.add(car.CarEvent.EventName.belowSteerSpeed)
# handle button presses # handle button presses
for b in ret.buttonEvents: events.events.extend(create_button_enable_events(ret.buttonEvents))
# do enable on both accel and decel buttons
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.add(EventName.buttonCancel)
ret.events = events.to_msg() ret.events = events.to_msg()

47
selfdrive/car/honda/interface.py
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@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from common.numpy_fast import interp from common.numpy_fast import interp
from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL from selfdrive.car.honda.values import CarControllerParams, CruiseButtons, HondaFlags, CAR, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
@ -12,6 +12,8 @@ from selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
TransmissionType = car.CarParams.TransmissionType TransmissionType = car.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@ -334,37 +336,11 @@ class CarInterface(CarInterfaceBase):
buttonEvents = [] buttonEvents = []
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message() buttonEvents.append(create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT))
be.type = ButtonType.unknown
if self.CS.cruise_buttons != 0:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
be.type = ButtonType.accelCruise
elif but == CruiseButtons.DECEL_SET:
be.type = ButtonType.decelCruise
elif but == CruiseButtons.CANCEL:
be.type = ButtonType.cancel
elif but == CruiseButtons.MAIN:
be.type = ButtonType.altButton3
buttonEvents.append(be)
if self.CS.cruise_setting != self.CS.prev_cruise_setting: if self.CS.cruise_setting != self.CS.prev_cruise_setting:
be = car.CarState.ButtonEvent.new_message() buttonEvents.append(create_button_event(self.CS.cruise_setting, self.CS.prev_cruise_setting, {1: ButtonType.altButton1}))
be.type = ButtonType.unknown
if self.CS.cruise_setting != 0:
be.pressed = True
but = self.CS.cruise_setting
else:
be.pressed = False
but = self.CS.prev_cruise_setting
if but == 1:
be.type = ButtonType.altButton1
# TODO: more buttons?
buttonEvents.append(be)
ret.buttonEvents = buttonEvents ret.buttonEvents = buttonEvents
# events # events
@ -391,16 +367,7 @@ class CarInterface(CarInterfaceBase):
events.add(EventName.manualRestart) events.add(EventName.manualRestart)
# handle button presses # handle button presses
for b in ret.buttonEvents: events.events.extend(create_button_enable_events(ret.buttonEvents))
# do enable on both accel and decel buttons
if not self.CP.pcmCruise:
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.add(EventName.buttonCancel)
ret.events = events.to_msg() ret.events = events.to_msg()

39
selfdrive/car/hyundai/interface.py
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@ -4,7 +4,7 @@ from panda import Panda
from common.conversions import Conversions as CV from common.conversions import Conversions as CV
from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.disable_ecu import disable_ecu from selfdrive.car.disable_ecu import disable_ecu
from selfdrive.controls.lib.latcontrol_torque import set_torque_tune from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
@ -12,6 +12,8 @@ from selfdrive.controls.lib.latcontrol_torque import set_torque_tune
ButtonType = car.CarState.ButtonEvent.Type ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL) ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
Buttons.GAP_DIST: ButtonType.gapAdjustCruise, Buttons.CANCEL: ButtonType.cancel}
class CarInterface(CarInterfaceBase): class CarInterface(CarInterfaceBase):
@ -338,37 +340,10 @@ class CarInterface(CarInterfaceBase):
if self.CS.brake_error: if self.CS.brake_error:
events.add(EventName.brakeUnavailable) events.add(EventName.brakeUnavailable)
if self.CS.CP.openpilotLongitudinalControl: if self.CS.CP.openpilotLongitudinalControl and self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons:
buttonEvents = [] ret.buttonEvents = [create_button_event(self.CS.cruise_buttons[-1], self.CS.prev_cruise_buttons, BUTTONS_DICT)]
if self.CS.cruise_buttons[-1] != self.CS.prev_cruise_buttons: events.events.extend(create_button_enable_events(ret.buttonEvents))
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.unknown
if self.CS.cruise_buttons[-1] != 0:
be.pressed = True
but = self.CS.cruise_buttons[-1]
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == Buttons.RES_ACCEL:
be.type = ButtonType.accelCruise
elif but == Buttons.SET_DECEL:
be.type = ButtonType.decelCruise
elif but == Buttons.GAP_DIST:
be.type = ButtonType.gapAdjustCruise
elif but == Buttons.CANCEL:
be.type = ButtonType.cancel
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in (ButtonType.accelCruise, ButtonType.decelCruise) and not b.pressed:
events.add(EventName.buttonEnable)
# do disable on button down
if b.type == ButtonType.cancel and b.pressed:
events.add(EventName.buttonCancel)
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s) # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.: if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:

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