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760 lines
31 KiB
760 lines
31 KiB
#!/usr/bin/env python3
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import os
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import math
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from numbers import Number
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from cereal import car, log
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from common.numpy_fast import clip
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from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
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from common.profiler import Profiler
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from common.params import Params, put_nonblocking
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import cereal.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.swaglog import cloudlog
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
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from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
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from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
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from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
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from selfdrive.controls.lib.longcontrol import LongControl
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from selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
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from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
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from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from selfdrive.controls.lib.events import Events, ET
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from selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.locationd.calibrationd import Calibration
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from selfdrive.hardware import HARDWARE, TICI, EON
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from selfdrive.manager.process_config import managed_processes
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SOFT_DISABLE_TIME = 3 # seconds
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LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
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LANE_DEPARTURE_THRESHOLD = 0.1
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STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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REPLAY = "REPLAY" in os.environ
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SIMULATION = "SIMULATION" in os.environ
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NOSENSOR = "NOSENSOR" in os.environ
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IGNORE_PROCESSES = {"rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned",
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"logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad",
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"statsd", "shutdownd"} | \
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{k for k, v in managed_processes.items() if not v.enabled}
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ACTUATOR_FIELDS = set(car.CarControl.Actuators.schema.fields.keys())
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ThermalStatus = log.DeviceState.ThermalStatus
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State = log.ControlsState.OpenpilotState
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PandaType = log.PandaState.PandaType
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Desire = log.LateralPlan.Desire
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LaneChangeState = log.LateralPlan.LaneChangeState
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LaneChangeDirection = log.LateralPlan.LaneChangeDirection
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EventName = car.CarEvent.EventName
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ButtonEvent = car.CarState.ButtonEvent
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SafetyModel = car.CarParams.SafetyModel
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IGNORED_SAFETY_MODES = [SafetyModel.silent, SafetyModel.noOutput]
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CSID_MAP = {"0": EventName.roadCameraError, "1": EventName.wideRoadCameraError, "2": EventName.driverCameraError}
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class Controls:
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def __init__(self, sm=None, pm=None, can_sock=None):
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config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
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# Setup sockets
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self.pm = pm
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if self.pm is None:
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self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
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'carControl', 'carEvents', 'carParams'])
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self.camera_packets = ["roadCameraState", "driverCameraState"]
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if TICI:
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self.camera_packets.append("wideRoadCameraState")
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params = Params()
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self.joystick_mode = params.get_bool("JoystickDebugMode")
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joystick_packet = ['testJoystick'] if self.joystick_mode else []
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self.sm = sm
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if self.sm is None:
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ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
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self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
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'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
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'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
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ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
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self.can_sock = can_sock
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if can_sock is None:
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can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
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self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
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if TICI:
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self.log_sock = messaging.sub_sock('androidLog')
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# wait for one pandaState and one CAN packet
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print("Waiting for CAN messages...")
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get_one_can(self.can_sock)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
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# read params
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self.is_metric = params.get_bool("IsMetric")
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self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
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community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
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openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
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passive = params.get_bool("Passive") or not openpilot_enabled_toggle
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# detect sound card presence and ensure successful init
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sounds_available = HARDWARE.get_sound_card_online()
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car_recognized = self.CP.carName != 'mock'
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controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
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community_feature = self.CP.communityFeature or \
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self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
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community_feature_disallowed = community_feature and (not community_feature_toggle)
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self.read_only = not car_recognized or not controller_available or \
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self.CP.dashcamOnly or community_feature_disallowed
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if self.read_only:
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safety_config = car.CarParams.SafetyConfig.new_message()
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safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
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self.CP.safetyConfigs = [safety_config]
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# Write CarParams for radard
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cp_bytes = self.CP.to_bytes()
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params.put("CarParams", cp_bytes)
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put_nonblocking("CarParamsCache", cp_bytes)
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self.CC = car.CarControl.new_message()
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self.AM = AlertManager()
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self.events = Events()
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self.LoC = LongControl(self.CP)
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self.VM = VehicleModel(self.CP)
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if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
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self.LaC = LatControlAngle(self.CP)
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elif self.CP.lateralTuning.which() == 'pid':
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self.LaC = LatControlPID(self.CP, self.CI)
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elif self.CP.lateralTuning.which() == 'indi':
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self.LaC = LatControlINDI(self.CP)
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elif self.CP.lateralTuning.which() == 'lqr':
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self.LaC = LatControlLQR(self.CP)
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self.initialized = False
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self.state = State.disabled
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self.enabled = False
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self.active = False
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self.can_rcv_error = False
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self.soft_disable_timer = 0
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self.v_cruise_kph = 255
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self.v_cruise_kph_last = 0
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self.mismatch_counter = 0
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self.cruise_mismatch_counter = 0
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self.can_rcv_error_counter = 0
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self.last_blinker_frame = 0
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self.saturated_count = 0
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self.distance_traveled = 0
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self.last_functional_fan_frame = 0
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self.events_prev = []
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self.current_alert_types = [ET.PERMANENT]
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self.logged_comm_issue = False
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self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
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self.last_actuators = car.CarControl.Actuators.new_message()
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# TODO: no longer necessary, aside from process replay
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self.sm['liveParameters'].valid = True
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self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
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if not sounds_available:
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self.events.add(EventName.soundsUnavailable, static=True)
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if community_feature_disallowed and car_recognized and not self.CP.dashcamOnly:
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self.events.add(EventName.communityFeatureDisallowed, static=True)
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if not car_recognized:
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self.events.add(EventName.carUnrecognized, static=True)
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if len(self.CP.carFw) > 0:
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set_offroad_alert("Offroad_CarUnrecognized", True)
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else:
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set_offroad_alert("Offroad_NoFirmware", True)
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elif self.read_only:
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self.events.add(EventName.dashcamMode, static=True)
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elif self.joystick_mode:
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self.events.add(EventName.joystickDebug, static=True)
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self.startup_event = None
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# controlsd is driven by can recv, expected at 100Hz
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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self.prof = Profiler(False) # off by default
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def update_events(self, CS):
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"""Compute carEvents from carState"""
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self.events.clear()
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self.events.add_from_msg(CS.events)
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self.events.add_from_msg(self.sm['driverMonitoringState'].events)
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# Handle startup event
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if self.startup_event is not None:
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self.events.add(self.startup_event)
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self.startup_event = None
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# Don't add any more events if not initialized
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if not self.initialized:
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self.events.add(EventName.controlsInitializing)
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return
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# Create events for battery, temperature, disk space, and memory
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if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \
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self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
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# at zero percent battery, while discharging, OP should not allowed
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self.events.add(EventName.lowBattery)
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if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
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self.events.add(EventName.overheat)
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if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
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# under 7% of space free no enable allowed
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self.events.add(EventName.outOfSpace)
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# TODO: make tici threshold the same
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if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else 65) and not SIMULATION:
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self.events.add(EventName.lowMemory)
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# TODO: enable this once loggerd CPU usage is more reasonable
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#cpus = list(self.sm['deviceState'].cpuUsagePercent)[:(-1 if EON else None)]
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#if max(cpus, default=0) > 95 and not SIMULATION:
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# self.events.add(EventName.highCpuUsage)
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# Alert if fan isn't spinning for 5 seconds
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if self.sm['peripheralState'].pandaType in (PandaType.uno, PandaType.dos):
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if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
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if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
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self.events.add(EventName.fanMalfunction)
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else:
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self.last_functional_fan_frame = self.sm.frame
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# Handle calibration status
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cal_status = self.sm['liveCalibration'].calStatus
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if cal_status != Calibration.CALIBRATED:
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if cal_status == Calibration.UNCALIBRATED:
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self.events.add(EventName.calibrationIncomplete)
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else:
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self.events.add(EventName.calibrationInvalid)
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# Handle lane change
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if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
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direction = self.sm['lateralPlan'].laneChangeDirection
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if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
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(CS.rightBlindspot and direction == LaneChangeDirection.right):
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self.events.add(EventName.laneChangeBlocked)
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else:
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if direction == LaneChangeDirection.left:
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self.events.add(EventName.preLaneChangeLeft)
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else:
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self.events.add(EventName.preLaneChangeRight)
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elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
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LaneChangeState.laneChangeFinishing):
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self.events.add(EventName.laneChange)
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if not CS.canValid:
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self.events.add(EventName.canError)
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for i, pandaState in enumerate(self.sm['pandaStates']):
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# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
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if i < len(self.CP.safetyConfigs):
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safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam
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else:
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safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
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if safety_mismatch or self.mismatch_counter >= 200:
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self.events.add(EventName.controlsMismatch)
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if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
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self.events.add(EventName.relayMalfunction)
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# Check for HW or system issues
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if len(self.sm['radarState'].radarErrors):
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self.events.add(EventName.radarFault)
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elif not self.sm.valid["pandaStates"]:
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self.events.add(EventName.usbError)
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elif not self.sm.all_alive_and_valid() or self.can_rcv_error:
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self.events.add(EventName.commIssue)
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if not self.logged_comm_issue:
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invalid = [s for s, valid in self.sm.valid.items() if not valid]
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not_alive = [s for s, alive in self.sm.alive.items() if not alive]
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cloudlog.event("commIssue", invalid=invalid, not_alive=not_alive, can_error=self.can_rcv_error, error=True)
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self.logged_comm_issue = True
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else:
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self.logged_comm_issue = False
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if not self.sm['liveParameters'].valid:
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self.events.add(EventName.vehicleModelInvalid)
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if not self.sm['lateralPlan'].mpcSolutionValid:
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self.events.add(EventName.plannerError)
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if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
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if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
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self.events.add(EventName.sensorDataInvalid)
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if not self.sm['liveLocationKalman'].posenetOK:
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self.events.add(EventName.posenetInvalid)
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if not self.sm['liveLocationKalman'].deviceStable:
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self.events.add(EventName.deviceFalling)
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if not REPLAY:
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# Check for mismatch between openpilot and car's PCM
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cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
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self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
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if self.cruise_mismatch_counter > int(3. / DT_CTRL):
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self.events.add(EventName.cruiseMismatch)
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# Check for FCW
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stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.5
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model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
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planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
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if planner_fcw or model_fcw:
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self.events.add(EventName.fcw)
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if TICI:
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for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
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try:
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msg = m.androidLog.message
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if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
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csid = msg.split("CSID:")[-1].split(" ")[0]
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evt = CSID_MAP.get(csid, None)
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if evt is not None:
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self.events.add(evt)
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except UnicodeDecodeError:
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pass
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# TODO: fix simulator
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if not SIMULATION:
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if not NOSENSOR:
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if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
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# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
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self.events.add(EventName.noGps)
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if not self.sm.all_alive(self.camera_packets):
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self.events.add(EventName.cameraMalfunction)
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if self.sm['modelV2'].frameDropPerc > 20:
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self.events.add(EventName.modeldLagging)
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if self.sm['liveLocationKalman'].excessiveResets:
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self.events.add(EventName.localizerMalfunction)
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# Check if all manager processes are running
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not_running = {p.name for p in self.sm['managerState'].processes if not p.running}
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if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
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self.events.add(EventName.processNotRunning)
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# Only allow engagement with brake pressed when stopped behind another stopped car
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speeds = self.sm['longitudinalPlan'].speeds
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if len(speeds) > 1:
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v_future = speeds[-1]
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else:
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v_future = 100.0
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if CS.brakePressed and v_future >= self.CP.vEgoStarting \
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and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
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self.events.add(EventName.noTarget)
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def data_sample(self):
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"""Receive data from sockets and update carState"""
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# Update carState from CAN
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can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
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CS = self.CI.update(self.CC, can_strs)
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self.sm.update(0)
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if not self.initialized:
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all_valid = CS.canValid and self.sm.all_alive_and_valid()
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if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
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if not self.read_only:
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self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
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self.initialized = True
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if REPLAY and self.sm['pandaStates'][0].controlsAllowed:
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self.state = State.enabled
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Params().put_bool("ControlsReady", True)
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# Check for CAN timeout
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if not can_strs:
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self.can_rcv_error_counter += 1
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self.can_rcv_error = True
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else:
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self.can_rcv_error = False
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# When the panda and controlsd do not agree on controls_allowed
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# we want to disengage openpilot. However the status from the panda goes through
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# another socket other than the CAN messages and one can arrive earlier than the other.
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# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
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if not self.enabled:
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self.mismatch_counter = 0
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# All pandas not in silent mode must have controlsAllowed when openpilot is enabled
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if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
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if ps.safetyModel not in IGNORED_SAFETY_MODES):
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self.mismatch_counter += 1
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self.distance_traveled += CS.vEgo * DT_CTRL
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return CS
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def state_transition(self, CS):
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"""Compute conditional state transitions and execute actions on state transitions"""
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self.v_cruise_kph_last = self.v_cruise_kph
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# if stock cruise is completely disabled, then we can use our own set speed logic
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if not self.CP.pcmCruise:
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self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.button_timers, self.enabled, self.is_metric)
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elif CS.cruiseState.enabled:
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self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
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# decrement the soft disable timer at every step, as it's reset on
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|
# entrance in SOFT_DISABLING state
|
|
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
|
|
|
|
self.current_alert_types = [ET.PERMANENT]
|
|
|
|
# ENABLED, PRE ENABLING, SOFT DISABLING
|
|
if self.state != State.disabled:
|
|
# user and immediate disable always have priority in a non-disabled state
|
|
if self.events.any(ET.USER_DISABLE):
|
|
self.state = State.disabled
|
|
self.current_alert_types.append(ET.USER_DISABLE)
|
|
|
|
elif self.events.any(ET.IMMEDIATE_DISABLE):
|
|
self.state = State.disabled
|
|
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
|
|
|
|
else:
|
|
# ENABLED
|
|
if self.state == State.enabled:
|
|
if self.events.any(ET.SOFT_DISABLE):
|
|
self.state = State.softDisabling
|
|
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
|
|
self.current_alert_types.append(ET.SOFT_DISABLE)
|
|
|
|
# SOFT DISABLING
|
|
elif self.state == State.softDisabling:
|
|
if not self.events.any(ET.SOFT_DISABLE):
|
|
# no more soft disabling condition, so go back to ENABLED
|
|
self.state = State.enabled
|
|
|
|
elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
|
|
self.current_alert_types.append(ET.SOFT_DISABLE)
|
|
|
|
elif self.soft_disable_timer <= 0:
|
|
self.state = State.disabled
|
|
|
|
# PRE ENABLING
|
|
elif self.state == State.preEnabled:
|
|
if not self.events.any(ET.PRE_ENABLE):
|
|
self.state = State.enabled
|
|
else:
|
|
self.current_alert_types.append(ET.PRE_ENABLE)
|
|
|
|
# DISABLED
|
|
elif self.state == State.disabled:
|
|
if self.events.any(ET.ENABLE):
|
|
if self.events.any(ET.NO_ENTRY):
|
|
self.current_alert_types.append(ET.NO_ENTRY)
|
|
|
|
else:
|
|
if self.events.any(ET.PRE_ENABLE):
|
|
self.state = State.preEnabled
|
|
else:
|
|
self.state = State.enabled
|
|
self.current_alert_types.append(ET.ENABLE)
|
|
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
|
|
|
|
# Check if actuators are enabled
|
|
self.active = self.state == State.enabled or self.state == State.softDisabling
|
|
if self.active:
|
|
self.current_alert_types.append(ET.WARNING)
|
|
|
|
# Check if openpilot is engaged
|
|
self.enabled = self.active or self.state == State.preEnabled
|
|
|
|
def state_control(self, CS):
|
|
"""Given the state, this function returns an actuators packet"""
|
|
|
|
# Update VehicleModel
|
|
params = self.sm['liveParameters']
|
|
x = max(params.stiffnessFactor, 0.1)
|
|
sr = max(params.steerRatio, 0.1)
|
|
self.VM.update_params(x, sr)
|
|
|
|
lat_plan = self.sm['lateralPlan']
|
|
long_plan = self.sm['longitudinalPlan']
|
|
|
|
actuators = car.CarControl.Actuators.new_message()
|
|
actuators.longControlState = self.LoC.long_control_state
|
|
|
|
if CS.leftBlinker or CS.rightBlinker:
|
|
self.last_blinker_frame = self.sm.frame
|
|
|
|
# State specific actions
|
|
|
|
if not self.active:
|
|
self.LaC.reset()
|
|
self.LoC.reset(v_pid=CS.vEgo)
|
|
|
|
if not self.joystick_mode:
|
|
# accel PID loop
|
|
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
|
|
actuators.accel = self.LoC.update(self.active, CS, self.CP, long_plan, pid_accel_limits)
|
|
|
|
# Steering PID loop and lateral MPC
|
|
lat_active = self.active and not CS.steerWarning and not CS.steerError and CS.vEgo > self.CP.minSteerSpeed
|
|
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
|
|
lat_plan.psis,
|
|
lat_plan.curvatures,
|
|
lat_plan.curvatureRates)
|
|
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(lat_active, CS, self.CP, self.VM, params, self.last_actuators,
|
|
desired_curvature, desired_curvature_rate)
|
|
else:
|
|
lac_log = log.ControlsState.LateralDebugState.new_message()
|
|
if self.sm.rcv_frame['testJoystick'] > 0 and self.active:
|
|
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
|
|
|
|
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
|
|
# max angle is 45 for angle-based cars
|
|
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
|
|
|
|
lac_log.active = True
|
|
lac_log.steeringAngleDeg = CS.steeringAngleDeg
|
|
lac_log.output = steer
|
|
lac_log.saturated = abs(steer) >= 0.9
|
|
|
|
# Check for difference between desired angle and angle for angle based control
|
|
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
|
|
abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
|
|
|
|
if angle_control_saturated and not CS.steeringPressed and self.active:
|
|
self.saturated_count += 1
|
|
else:
|
|
self.saturated_count = 0
|
|
|
|
# Send a "steering required alert" if saturation count has reached the limit
|
|
if (lac_log.saturated and not CS.steeringPressed) or \
|
|
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
|
|
|
|
dpath_points = lat_plan.dPathPoints
|
|
if len(dpath_points):
|
|
# Check if we deviated from the path
|
|
# TODO use desired vs actual curvature
|
|
left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
|
|
right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
|
|
|
|
if left_deviation or right_deviation:
|
|
self.events.add(EventName.steerSaturated)
|
|
|
|
# Ensure no NaNs/Infs
|
|
for p in ACTUATOR_FIELDS:
|
|
attr = getattr(actuators, p)
|
|
if not isinstance(attr, Number):
|
|
continue
|
|
|
|
if not math.isfinite(attr):
|
|
cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
|
|
setattr(actuators, p, 0.0)
|
|
|
|
return actuators, lac_log
|
|
|
|
def update_button_timers(self, buttonEvents):
|
|
# increment timer for buttons still pressed
|
|
for k in self.button_timers:
|
|
if self.button_timers[k] > 0:
|
|
self.button_timers[k] += 1
|
|
|
|
for b in buttonEvents:
|
|
if b.type.raw in self.button_timers:
|
|
self.button_timers[b.type.raw] = 1 if b.pressed else 0
|
|
|
|
def publish_logs(self, CS, start_time, actuators, lac_log):
|
|
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
|
|
|
|
CC = car.CarControl.new_message()
|
|
CC.enabled = self.enabled
|
|
CC.active = self.active
|
|
CC.actuators = actuators
|
|
|
|
orientation_value = self.sm['liveLocationKalman'].orientationNED.value
|
|
if len(orientation_value) > 2:
|
|
CC.roll = orientation_value[0]
|
|
CC.pitch = orientation_value[1]
|
|
|
|
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
|
|
if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
|
|
CC.cruiseControl.cancel = True
|
|
|
|
hudControl = CC.hudControl
|
|
hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
|
|
hudControl.speedVisible = self.enabled
|
|
hudControl.lanesVisible = self.enabled
|
|
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
|
|
|
|
hudControl.rightLaneVisible = True
|
|
hudControl.leftLaneVisible = True
|
|
|
|
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
|
|
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
|
|
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
|
|
|
|
model_v2 = self.sm['modelV2']
|
|
desire_prediction = model_v2.meta.desirePrediction
|
|
if len(desire_prediction) and ldw_allowed:
|
|
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
|
|
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
|
|
l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
|
|
r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
|
|
|
|
lane_lines = model_v2.laneLines
|
|
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
|
|
r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
|
|
|
|
hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
|
|
hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
|
|
|
|
if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
|
|
self.events.add(EventName.ldw)
|
|
|
|
clear_event_types = set()
|
|
if ET.WARNING not in self.current_alert_types:
|
|
clear_event_types.add(ET.WARNING)
|
|
if self.enabled:
|
|
clear_event_types.add(ET.NO_ENTRY)
|
|
|
|
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
|
|
self.AM.add_many(self.sm.frame, alerts)
|
|
current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
|
|
if current_alert:
|
|
hudControl.visualAlert = current_alert.visual_alert
|
|
|
|
if not self.read_only and self.initialized:
|
|
# send car controls over can
|
|
self.last_actuators, can_sends = self.CI.apply(CC)
|
|
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
|
|
CC.actuatorsOutput = self.last_actuators
|
|
|
|
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
|
|
(self.state == State.softDisabling)
|
|
|
|
# Curvature & Steering angle
|
|
params = self.sm['liveParameters']
|
|
|
|
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
|
|
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll)
|
|
|
|
# controlsState
|
|
dat = messaging.new_message('controlsState')
|
|
dat.valid = CS.canValid
|
|
controlsState = dat.controlsState
|
|
if current_alert:
|
|
controlsState.alertText1 = current_alert.alert_text_1
|
|
controlsState.alertText2 = current_alert.alert_text_2
|
|
controlsState.alertSize = current_alert.alert_size
|
|
controlsState.alertStatus = current_alert.alert_status
|
|
controlsState.alertBlinkingRate = current_alert.alert_rate
|
|
controlsState.alertType = current_alert.alert_type
|
|
controlsState.alertSound = current_alert.audible_alert
|
|
|
|
controlsState.canMonoTimes = list(CS.canMonoTimes)
|
|
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
|
|
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
|
|
controlsState.enabled = self.enabled
|
|
controlsState.active = self.active
|
|
controlsState.curvature = curvature
|
|
controlsState.state = self.state
|
|
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
|
|
controlsState.longControlState = self.LoC.long_control_state
|
|
controlsState.vPid = float(self.LoC.v_pid)
|
|
controlsState.vCruise = float(self.v_cruise_kph)
|
|
controlsState.upAccelCmd = float(self.LoC.pid.p)
|
|
controlsState.uiAccelCmd = float(self.LoC.pid.i)
|
|
controlsState.ufAccelCmd = float(self.LoC.pid.f)
|
|
controlsState.cumLagMs = -self.rk.remaining * 1000.
|
|
controlsState.startMonoTime = int(start_time * 1e9)
|
|
controlsState.forceDecel = bool(force_decel)
|
|
controlsState.canErrorCounter = self.can_rcv_error_counter
|
|
|
|
lat_tuning = self.CP.lateralTuning.which()
|
|
if self.joystick_mode:
|
|
controlsState.lateralControlState.debugState = lac_log
|
|
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
controlsState.lateralControlState.angleState = lac_log
|
|
elif lat_tuning == 'pid':
|
|
controlsState.lateralControlState.pidState = lac_log
|
|
elif lat_tuning == 'lqr':
|
|
controlsState.lateralControlState.lqrState = lac_log
|
|
elif lat_tuning == 'indi':
|
|
controlsState.lateralControlState.indiState = lac_log
|
|
|
|
self.pm.send('controlsState', dat)
|
|
|
|
# carState
|
|
car_events = self.events.to_msg()
|
|
cs_send = messaging.new_message('carState')
|
|
cs_send.valid = CS.canValid
|
|
cs_send.carState = CS
|
|
cs_send.carState.events = car_events
|
|
self.pm.send('carState', cs_send)
|
|
|
|
# carEvents - logged every second or on change
|
|
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
|
|
ce_send = messaging.new_message('carEvents', len(self.events))
|
|
ce_send.carEvents = car_events
|
|
self.pm.send('carEvents', ce_send)
|
|
self.events_prev = self.events.names.copy()
|
|
|
|
# carParams - logged every 50 seconds (> 1 per segment)
|
|
if (self.sm.frame % int(50. / DT_CTRL) == 0):
|
|
cp_send = messaging.new_message('carParams')
|
|
cp_send.carParams = self.CP
|
|
self.pm.send('carParams', cp_send)
|
|
|
|
# carControl
|
|
cc_send = messaging.new_message('carControl')
|
|
cc_send.valid = CS.canValid
|
|
cc_send.carControl = CC
|
|
self.pm.send('carControl', cc_send)
|
|
|
|
# copy CarControl to pass to CarInterface on the next iteration
|
|
self.CC = CC
|
|
|
|
def step(self):
|
|
start_time = sec_since_boot()
|
|
self.prof.checkpoint("Ratekeeper", ignore=True)
|
|
|
|
# Sample data from sockets and get a carState
|
|
CS = self.data_sample()
|
|
self.prof.checkpoint("Sample")
|
|
|
|
self.update_events(CS)
|
|
|
|
if not self.read_only and self.initialized:
|
|
# Update control state
|
|
self.state_transition(CS)
|
|
self.prof.checkpoint("State transition")
|
|
|
|
# Compute actuators (runs PID loops and lateral MPC)
|
|
actuators, lac_log = self.state_control(CS)
|
|
|
|
self.prof.checkpoint("State Control")
|
|
|
|
# Publish data
|
|
self.publish_logs(CS, start_time, actuators, lac_log)
|
|
self.prof.checkpoint("Sent")
|
|
|
|
self.update_button_timers(CS.buttonEvents)
|
|
|
|
def controlsd_thread(self):
|
|
while True:
|
|
self.step()
|
|
self.rk.monitor_time()
|
|
self.prof.display()
|
|
|
|
def main(sm=None, pm=None, logcan=None):
|
|
controls = Controls(sm, pm, logcan)
|
|
controls.controlsd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|