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76 lines
2.2 KiB
76 lines
2.2 KiB
import os
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import time
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from cereal import car
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from common.kalman.simple_kalman import KF1D
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from common.realtime import DT_CTRL
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from selfdrive.car import gen_empty_fingerprint
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GearShifter = car.CarState.GearShifter
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# generic car and radar interfaces
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class CarInterfaceBase():
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def __init__(self, CP, CarController):
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pass
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.
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@staticmethod
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def compute_gb(accel, speed):
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raise NotImplementedError
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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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raise NotImplementedError
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# returns a car.CarState, pass in car.CarControl
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def update(self, c, can_strings):
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raise NotImplementedError
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# return sendcan, pass in a car.CarControl
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def apply(self, c):
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raise NotImplementedError
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class RadarInterfaceBase():
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def __init__(self, CP):
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self.pts = {}
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self.delay = 0
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self.radar_ts = CP.radarTimeStep
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def update(self, can_strings):
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ret = car.RadarData.new_message()
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if 'NO_RADAR_SLEEP' not in os.environ:
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time.sleep(self.radar_ts) # radard runs on RI updates
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return ret
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class CarStateBase:
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def __init__(self, CP):
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self.CP = CP
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self.car_fingerprint = CP.carFingerprint
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self.left_blinker_on = 0
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self.right_blinker_on = 0
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self.cruise_buttons = 0
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
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A=[[1.0, DT_CTRL], [0.0, 1.0]],
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C=[1.0, 0.0],
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K=[[0.12287673], [0.29666309]])
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def update_speed_kf(self, v_ego_raw):
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if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[v_ego_raw], [0.0]]
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v_ego_x = self.v_ego_kf.update(v_ego_raw)
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return float(v_ego_x[0]), float(v_ego_x[1])
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@staticmethod
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def parse_gear_shifter(gear):
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return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
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'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
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'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
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