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356 lines
15 KiB
356 lines
15 KiB
from common.numpy_fast import interp
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from common.kalman.simple_kalman import KF1D
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from selfdrive.can.can_define import CANDefine
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from selfdrive.can.parser import CANParser
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from selfdrive.config import Conversions as CV
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from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, SPEED_FACTOR, HONDA_BOSCH
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def parse_gear_shifter(gear, vals):
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val_to_capnp = {'P': 'park', 'R': 'reverse', 'N': 'neutral',
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'D': 'drive', 'S': 'sport', 'L': 'low'}
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try:
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return val_to_capnp[vals[gear]]
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except KeyError:
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return "unknown"
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def calc_cruise_offset(offset, speed):
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# euristic formula so that speed is controlled to ~ 0.3m/s below pid_speed
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# constraints to solve for _K0, _K1, _K2 are:
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# - speed = 0m/s, out = -0.3
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# - speed = 34m/s, offset = 20, out = -0.25
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# - speed = 34m/s, offset = -2.5, out = -1.8
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_K0 = -0.3
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_K1 = -0.01879
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_K2 = 0.01013
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return min(_K0 + _K1 * speed + _K2 * speed * offset, 0.)
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def get_can_signals(CP):
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# this function generates lists for signal, messages and initial values
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signals = [
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("XMISSION_SPEED", "ENGINE_DATA", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("STEER_ANGLE", "STEERING_SENSORS", 0),
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("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
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("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
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("LEFT_BLINKER", "SCM_FEEDBACK", 0),
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("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
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("GEAR", "GEARBOX", 0),
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("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS", 1),
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("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS", 0),
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("BRAKE_PRESSED", "POWERTRAIN_DATA", 0),
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("BRAKE_SWITCH", "POWERTRAIN_DATA", 0),
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("CRUISE_BUTTONS", "SCM_BUTTONS", 0),
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("ESP_DISABLED", "VSA_STATUS", 1),
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("USER_BRAKE", "VSA_STATUS", 0),
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("BRAKE_HOLD_ACTIVE", "VSA_STATUS", 0),
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("STEER_STATUS", "STEER_STATUS", 5),
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("GEAR_SHIFTER", "GEARBOX", 0),
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("PEDAL_GAS", "POWERTRAIN_DATA", 0),
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("CRUISE_SETTING", "SCM_BUTTONS", 0),
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("ACC_STATUS", "POWERTRAIN_DATA", 0),
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]
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checks = [
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("ENGINE_DATA", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING_SENSORS", 100),
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("SEATBELT_STATUS", 10),
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("CRUISE", 10),
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("POWERTRAIN_DATA", 100),
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("VSA_STATUS", 50),
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]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks += [
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("SCM_FEEDBACK", 25),
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("SCM_BUTTONS", 50),
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]
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else:
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checks += [
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("SCM_FEEDBACK", 10),
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("SCM_BUTTONS", 25),
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]
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if CP.carFingerprint == CAR.CRV_HYBRID:
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checks += [
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("GEARBOX", 50),
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]
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else:
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checks += [
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("GEARBOX", 100),
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]
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if CP.radarOffCan:
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# Civic is only bosch to use the same brake message as other hondas.
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if CP.carFingerprint not in (CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
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signals += [("BRAKE_PRESSED", "BRAKE_MODULE", 0)]
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checks += [("BRAKE_MODULE", 50)]
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_FEEDBACK", 0),
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("EPB_STATE", "EPB_STATUS", 0),
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("CRUISE_SPEED", "ACC_HUD", 0)]
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checks += [("GAS_PEDAL_2", 100)]
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else:
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# Nidec signals.
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signals += [("BRAKE_ERROR_1", "STANDSTILL", 1),
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("BRAKE_ERROR_2", "STANDSTILL", 1),
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("CRUISE_SPEED_PCM", "CRUISE", 0),
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("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS", 0)]
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checks += [("STANDSTILL", 50)]
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if CP.carFingerprint == CAR.ODYSSEY_CHN:
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checks += [("CRUISE_PARAMS", 10)]
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else:
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checks += [("CRUISE_PARAMS", 50)]
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if CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
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signals += [("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK", 1)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("DRIVERS_DOOR_OPEN", "SCM_BUTTONS", 1)]
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else:
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signals += [("DOOR_OPEN_FL", "DOORS_STATUS", 1),
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("DOOR_OPEN_FR", "DOORS_STATUS", 1),
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("DOOR_OPEN_RL", "DOORS_STATUS", 1),
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("DOOR_OPEN_RR", "DOORS_STATUS", 1),
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("WHEELS_MOVING", "STANDSTILL", 1)]
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checks += [("DOORS_STATUS", 3)]
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if CP.carFingerprint == CAR.CIVIC:
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_FEEDBACK", 0),
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("IMPERIAL_UNIT", "HUD_SETTING", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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elif CP.carFingerprint == CAR.ACURA_ILX:
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signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
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("MAIN_ON", "SCM_BUTTONS", 0)]
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elif CP.carFingerprint in (CAR.CRV, CAR.ACURA_RDX, CAR.PILOT_2019, CAR.RIDGELINE):
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signals += [("MAIN_ON", "SCM_BUTTONS", 0)]
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elif CP.carFingerprint == CAR.ODYSSEY:
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signals += [("MAIN_ON", "SCM_FEEDBACK", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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checks += [("EPB_STATUS", 50)]
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elif CP.carFingerprint == CAR.PILOT:
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signals += [("MAIN_ON", "SCM_BUTTONS", 0),
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("CAR_GAS", "GAS_PEDAL_2", 0)]
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elif CP.carFingerprint == CAR.ODYSSEY_CHN:
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signals += [("MAIN_ON", "SCM_BUTTONS", 0),
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("EPB_STATE", "EPB_STATUS", 0)]
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checks += [("EPB_STATUS", 50)]
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# add gas interceptor reading if we are using it
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if CP.enableGasInterceptor:
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signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
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checks.append(("GAS_SENSOR", 50))
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return signals, checks
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def get_can_parser(CP):
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signals, checks = get_can_signals(CP)
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0, timeout=100)
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def get_cam_can_parser(CP):
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signals = []
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# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
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checks = [(0xe4, 100)]
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if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
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checks = [(0x194, 100)]
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cam_bus = 1 if CP.carFingerprint in HONDA_BOSCH else 2
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, cam_bus, timeout=100)
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class CarState(object):
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def __init__(self, CP):
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self.CP = CP
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self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
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self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
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self.user_gas, self.user_gas_pressed = 0., 0
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self.brake_switch_prev = 0
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self.brake_switch_ts = 0
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self.cruise_buttons = 0
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self.cruise_setting = 0
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self.v_cruise_pcm_prev = 0
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self.blinker_on = 0
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self.left_blinker_on = 0
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self.right_blinker_on = 0
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self.stopped = 0
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# vEgo kalman filter
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dt = 0.01
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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], [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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self.v_ego = 0.0
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def update(self, cp, cp_cam):
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# car params
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v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping
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v_weight_bp = [1., 6.] # smooth blending, below ~0.6m/s the smooth speed snaps to zero
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# update prevs, update must run once per loop
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self.prev_cruise_buttons = self.cruise_buttons
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self.prev_cruise_setting = self.cruise_setting
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self.prev_blinker_on = self.blinker_on
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self.prev_left_blinker_on = self.left_blinker_on
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self.prev_right_blinker_on = self.right_blinker_on
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# ******************* parse out can *******************
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if self.CP.carFingerprint in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID): # TODO: find wheels moving bit in dbc
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self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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self.door_all_closed = not cp.vl["SCM_FEEDBACK"]['DRIVERS_DOOR_OPEN']
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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self.standstill = cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] < 0.1
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self.door_all_closed = not cp.vl["SCM_BUTTONS"]['DRIVERS_DOOR_OPEN']
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else:
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self.standstill = not cp.vl["STANDSTILL"]['WHEELS_MOVING']
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self.door_all_closed = not any([cp.vl["DOORS_STATUS"]['DOOR_OPEN_FL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_FR'],
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cp.vl["DOORS_STATUS"]['DOOR_OPEN_RL'], cp.vl["DOORS_STATUS"]['DOOR_OPEN_RR']])
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self.seatbelt = not cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LAMP'] and cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_LATCHED']
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# 2 = temporary; 3 = TBD; 4 = significant steering wheel torque; 5 = (permanent); 6 = temporary; 7 = (permanent)
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# TODO: Use values from DBC to parse this field
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self.steer_error = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 2, 3, 4, 6]
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self.steer_not_allowed = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 4] # 4 can be caused by bump OR steering nudge from driver
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self.steer_warning = cp.vl["STEER_STATUS"]['STEER_STATUS'] not in [0, 3, 4] # 3 is low speed lockout, not worth a warning
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if self.CP.radarOffCan:
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self.brake_error = 0
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else:
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self.brake_error = cp.vl["STANDSTILL"]['BRAKE_ERROR_1'] or cp.vl["STANDSTILL"]['BRAKE_ERROR_2']
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self.esp_disabled = cp.vl["VSA_STATUS"]['ESP_DISABLED']
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# calc best v_ego estimate, by averaging two opposite corners
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speed_factor = SPEED_FACTOR[self.CP.carFingerprint]
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self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS * speed_factor
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self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS * speed_factor
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self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS * speed_factor
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self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS * speed_factor
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v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr)/4.
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# blend in transmission speed at low speed, since it has more low speed accuracy
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self.v_weight = interp(v_wheel, v_weight_bp, v_weight_v)
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speed = (1. - self.v_weight) * cp.vl["ENGINE_DATA"]['XMISSION_SPEED'] * CV.KPH_TO_MS * speed_factor + \
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self.v_weight * v_wheel
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if abs(speed - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[speed], [0.0]]
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self.v_ego_raw = speed
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v_ego_x = self.v_ego_kf.update(speed)
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self.v_ego = float(v_ego_x[0])
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self.a_ego = float(v_ego_x[1])
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# this is a hack for the interceptor. This is now only used in the simulation
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# TODO: Replace tests by toyota so this can go away
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if self.CP.enableGasInterceptor:
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self.user_gas = cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS']
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self.user_gas_pressed = self.user_gas > 0 # this works because interceptor read < 0 when pedal position is 0. Once calibrated, this will change
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self.gear = 0 if self.CP.carFingerprint == CAR.CIVIC else cp.vl["GEARBOX"]['GEAR']
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self.angle_steers = cp.vl["STEERING_SENSORS"]['STEER_ANGLE']
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self.angle_steers_rate = cp.vl["STEERING_SENSORS"]['STEER_ANGLE_RATE']
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self.cruise_setting = cp.vl["SCM_BUTTONS"]['CRUISE_SETTING']
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self.cruise_buttons = cp.vl["SCM_BUTTONS"]['CRUISE_BUTTONS']
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self.blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER'] or cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
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self.left_blinker_on = cp.vl["SCM_FEEDBACK"]['LEFT_BLINKER']
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self.right_blinker_on = cp.vl["SCM_FEEDBACK"]['RIGHT_BLINKER']
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self.brake_hold = cp.vl["VSA_STATUS"]['BRAKE_HOLD_ACTIVE']
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if self.CP.carFingerprint in (CAR.CIVIC, CAR.ODYSSEY, CAR.CRV_5G, CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CRV_HYBRID):
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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self.main_on = cp.vl["SCM_FEEDBACK"]['MAIN_ON']
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elif self.CP.carFingerprint == CAR.ODYSSEY_CHN:
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self.park_brake = cp.vl["EPB_STATUS"]['EPB_STATE'] != 0
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self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
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else:
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self.park_brake = 0 # TODO
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self.main_on = cp.vl["SCM_BUTTONS"]['MAIN_ON']
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can_gear_shifter = int(cp.vl["GEARBOX"]['GEAR_SHIFTER'])
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self.gear_shifter = parse_gear_shifter(can_gear_shifter, self.shifter_values)
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self.pedal_gas = cp.vl["POWERTRAIN_DATA"]['PEDAL_GAS']
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# crv doesn't include cruise control
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if self.CP.carFingerprint in (CAR.CRV, CAR.ODYSSEY, CAR.ACURA_RDX, CAR.RIDGELINE, CAR.PILOT_2019, CAR.ODYSSEY_CHN):
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self.car_gas = self.pedal_gas
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else:
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self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
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self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
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self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
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self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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if self.CP.radarOffCan:
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self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
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self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
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if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
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self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
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(self.brake_switch and self.brake_switch_prev and \
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cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
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self.brake_switch_prev = self.brake_switch
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self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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else:
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self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
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# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
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self.v_cruise_pcm = self.v_cruise_pcm_prev if cp.vl["ACC_HUD"]['CRUISE_SPEED'] > 160.0 else cp.vl["ACC_HUD"]['CRUISE_SPEED']
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self.v_cruise_pcm_prev = self.v_cruise_pcm
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else:
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self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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self.cruise_speed_offset = calc_cruise_offset(cp.vl["CRUISE_PARAMS"]['CRUISE_SPEED_OFFSET'], self.v_ego)
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self.v_cruise_pcm = cp.vl["CRUISE"]['CRUISE_SPEED_PCM']
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# brake switch has shown some single time step noise, so only considered when
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# switch is on for at least 2 consecutive CAN samples
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self.brake_pressed = cp.vl["POWERTRAIN_DATA"]['BRAKE_PRESSED'] or \
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(self.brake_switch and self.brake_switch_prev and \
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cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH'] != self.brake_switch_ts)
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self.brake_switch_prev = self.brake_switch
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self.brake_switch_ts = cp.ts["POWERTRAIN_DATA"]['BRAKE_SWITCH']
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self.user_brake = cp.vl["VSA_STATUS"]['USER_BRAKE']
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self.pcm_acc_status = cp.vl["POWERTRAIN_DATA"]['ACC_STATUS']
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# Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
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if self.CP.carFingerprint in (CAR.PILOT, CAR.PILOT_2019, CAR.RIDGELINE):
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if self.user_brake > 0.05:
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self.brake_pressed = 1
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# TODO: discover the CAN msg that has the imperial unit bit for all other cars
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self.is_metric = not cp.vl["HUD_SETTING"]['IMPERIAL_UNIT'] if self.CP.carFingerprint in (CAR.CIVIC) else False
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# carstate standalone tester
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if __name__ == '__main__':
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import zmq
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context = zmq.Context()
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class CarParams(object):
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def __init__(self):
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self.carFingerprint = "HONDA CIVIC 2016 TOURING"
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self.enableGasInterceptor = 0
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CP = CarParams()
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CS = CarState(CP)
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# while 1:
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# CS.update()
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# time.sleep(0.01)
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