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import zmq
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import math
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import numpy as np
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from common.realtime import sec_since_boot
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from selfdrive.services import service_list
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from selfdrive.swaglog import cloudlog
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from selfdrive.controls.lib.lateral_mpc import libmpc_py
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from selfdrive.controls.lib.drive_helpers import MPC_COST_LAT
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from selfdrive.controls.lib.model_parser import ModelParser
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import selfdrive.messaging as messaging
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def calc_states_after_delay(states, v_ego, steer_angle, curvature_factor, steer_ratio, delay):
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states[0].x = v_ego * delay
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states[0].psi = v_ego * curvature_factor * math.radians(steer_angle) / steer_ratio * delay
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return states
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class PathPlanner(object):
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def __init__(self, CP):
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self.MP = ModelParser()
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self.l_poly = [0., 0., 0., 0.]
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self.r_poly = [0., 0., 0., 0.]
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self.last_cloudlog_t = 0
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context = zmq.Context()
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self.plan = messaging.pub_sock(context, service_list['pathPlan'].port)
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self.livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
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self.setup_mpc(CP.steerRateCost)
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self.invalid_counter = 0
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def setup_mpc(self, steer_rate_cost):
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self.libmpc = libmpc_py.libmpc
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self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, steer_rate_cost)
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self.mpc_solution = libmpc_py.ffi.new("log_t *")
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self.cur_state = libmpc_py.ffi.new("state_t *")
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self.cur_state[0].x = 0.0
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self.cur_state[0].y = 0.0
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self.cur_state[0].psi = 0.0
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self.cur_state[0].delta = 0.0
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self.angle_steers_des = 0.0
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self.angle_steers_des_mpc = 0.0
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self.angle_steers_des_prev = 0.0
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self.angle_steers_des_time = 0.0
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def update(self, rcv_times, CP, VM, CS, md, controls_state, live_parameters):
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v_ego = CS.carState.vEgo
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angle_steers = CS.carState.steeringAngle
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active = controls_state.controlsState.active
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angle_offset_average = live_parameters.liveParameters.angleOffsetAverage
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angle_offset_bias = controls_state.controlsState.angleModelBias + angle_offset_average
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self.MP.update(v_ego, md)
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# Run MPC
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self.angle_steers_des_prev = self.angle_steers_des_mpc
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VM.update_params(live_parameters.liveParameters.stiffnessFactor, live_parameters.liveParameters.steerRatio)
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curvature_factor = VM.curvature_factor(v_ego)
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l_poly = libmpc_py.ffi.new("double[4]", list(self.MP.l_poly))
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r_poly = libmpc_py.ffi.new("double[4]", list(self.MP.r_poly))
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p_poly = libmpc_py.ffi.new("double[4]", list(self.MP.p_poly))
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# account for actuation delay
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self.cur_state = calc_states_after_delay(self.cur_state, v_ego, angle_steers - angle_offset_average, curvature_factor, VM.sR, CP.steerActuatorDelay)
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v_ego_mpc = max(v_ego, 5.0) # avoid mpc roughness due to low speed
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self.libmpc.run_mpc(self.cur_state, self.mpc_solution,
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l_poly, r_poly, p_poly,
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self.MP.l_prob, self.MP.r_prob, self.MP.p_prob, curvature_factor, v_ego_mpc, self.MP.lane_width)
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# reset to current steer angle if not active or overriding
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if active:
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delta_desired = self.mpc_solution[0].delta[1]
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rate_desired = math.degrees(self.mpc_solution[0].rate[0] * VM.sR)
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else:
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delta_desired = math.radians(angle_steers - angle_offset_bias) / VM.sR
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rate_desired = 0.0
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self.cur_state[0].delta = delta_desired
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self.angle_steers_des_mpc = float(math.degrees(delta_desired * VM.sR) + angle_offset_bias)
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# Check for infeasable MPC solution
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mpc_nans = np.any(np.isnan(list(self.mpc_solution[0].delta)))
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t = sec_since_boot()
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if mpc_nans:
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self.libmpc.init(MPC_COST_LAT.PATH, MPC_COST_LAT.LANE, MPC_COST_LAT.HEADING, CP.steerRateCost)
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self.cur_state[0].delta = math.radians(angle_steers) / VM.sR
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if t > self.last_cloudlog_t + 5.0:
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self.last_cloudlog_t = t
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cloudlog.warning("Lateral mpc - nan: True")
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if self.mpc_solution[0].cost > 20000. or mpc_nans: # TODO: find a better way to detect when MPC did not converge
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self.invalid_counter += 1
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else:
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self.invalid_counter = 0
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cur_time = sec_since_boot()
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model_dead = cur_time - rcv_times['model'] > 0.5
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plan_valid = self.invalid_counter < 2
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plan_send = messaging.new_message()
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plan_send.init('pathPlan')
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plan_send.pathPlan.laneWidth = float(self.MP.lane_width)
|
getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
6 years ago
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plan_send.pathPlan.dPoly = [float(x) for x in self.MP.d_poly]
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plan_send.pathPlan.cPoly = [float(x) for x in self.MP.c_poly]
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plan_send.pathPlan.cProb = float(self.MP.c_prob)
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
6 years ago
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plan_send.pathPlan.lPoly = [float(x) for x in l_poly]
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plan_send.pathPlan.lProb = float(self.MP.l_prob)
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getting ready for Python 3 (#619)
* tabs to spaces
python 2 to 3: https://portingguide.readthedocs.io/en/latest/syntax.html#tabs-and-spaces
* use the new except syntax
python 2 to 3: https://portingguide.readthedocs.io/en/latest/exceptions.html#the-new-except-syntax
* make relative imports absolute
python 2 to 3: https://portingguide.readthedocs.io/en/latest/imports.html#absolute-imports
* Queue renamed to queue in python 3
Use the six compatibility library to support both python 2 and 3: https://portingguide.readthedocs.io/en/latest/stdlib-reorg.html#renamed-modules
* replace dict.has_key() with in
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#removed-dict-has-key
* make dict views compatible with python 3
python 2 to 3: https://portingguide.readthedocs.io/en/latest/dicts.html#dict-views-and-iterators
Where needed, wrapping things that will be a view in python 3 with a list(). For example, if it's accessed with []
Python 3 has no iter*() methods, so just using the values() instead of itervalues() as long as it's not too performance intensive. Note that any minor performance hit of using a list instead of a view will go away when switching to python 3. If it is intensive, we could use the six version.
* Explicitly use truncating division
python 2 to 3: https://portingguide.readthedocs.io/en/latest/numbers.html#division
python 3 treats / as float division. When we want the result to be an integer, use //
* replace map() with list comprehension where a list result is needed.
In python 3, map() returns an iterator.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* replace filter() with list comprehension
In python 3, filter() returns an interatoooooooooooor.
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-map-and-filter
* wrap zip() in list() where we need the result to be a list
python 2 to 3: https://portingguide.readthedocs.io/en/latest/iterators.html#new-behavior-of-zip
* clean out some lint
Removes these pylint warnings:
************* Module selfdrive.car.chrysler.chryslercan
W: 15, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 16, 0: Unnecessary semicolon (unnecessary-semicolon)
W: 25, 0: Unnecessary semicolon (unnecessary-semicolon)
************* Module common.dbc
W:101, 0: Anomalous backslash in string: '\?'. String constant might be missing an r prefix. (anomalous-backslash-in-string)
************* Module selfdrive.car.gm.interface
R:102, 6: Redefinition of ret.minEnableSpeed type from float to int (redefined-variable-type)
R:103, 6: Redefinition of ret.mass type from int to float (redefined-variable-type)
************* Module selfdrive.updated
R: 20, 6: Redefinition of r type from int to str (redefined-variable-type)
old-commit-hash: 9dae0bfac4e54ec2b2e488d2b4ead1495c8f56d8
6 years ago
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plan_send.pathPlan.rPoly = [float(x) for x in r_poly]
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plan_send.pathPlan.rProb = float(self.MP.r_prob)
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plan_send.pathPlan.angleSteers = float(self.angle_steers_des_mpc)
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plan_send.pathPlan.rateSteers = float(rate_desired)
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plan_send.pathPlan.angleOffset = float(angle_offset_average)
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plan_send.pathPlan.valid = bool(plan_valid)
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plan_send.pathPlan.paramsValid = bool(live_parameters.liveParameters.valid)
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plan_send.pathPlan.sensorValid = bool(live_parameters.liveParameters.sensorValid)
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plan_send.pathPlan.modelValid = bool(not model_dead)
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self.plan.send(plan_send.to_bytes())
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dat = messaging.new_message()
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dat.init('liveMpc')
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dat.liveMpc.x = list(self.mpc_solution[0].x)
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dat.liveMpc.y = list(self.mpc_solution[0].y)
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dat.liveMpc.psi = list(self.mpc_solution[0].psi)
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dat.liveMpc.delta = list(self.mpc_solution[0].delta)
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dat.liveMpc.cost = self.mpc_solution[0].cost
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self.livempc.send(dat.to_bytes())
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