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249 lines
11 KiB
249 lines
11 KiB
from collections import deque
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from cereal import car, log
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import cereal.messaging as messaging
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from opendbc.car import DT_CTRL, structs
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from opendbc.car.interfaces import MAX_CTRL_SPEED
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from opendbc.car.volkswagen.values import CarControllerParams as VWCarControllerParams
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from opendbc.car.hyundai.interface import ENABLE_BUTTONS as HYUNDAI_ENABLE_BUTTONS
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from opendbc.car.hyundai.carstate import PREV_BUTTON_SAMPLES as HYUNDAI_PREV_BUTTON_SAMPLES
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from openpilot.selfdrive.selfdrived.events import Events
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ButtonType = structs.CarState.ButtonEvent.Type
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GearShifter = structs.CarState.GearShifter
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EventName = log.OnroadEvent.EventName
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NetworkLocation = structs.CarParams.NetworkLocation
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# TODO: the goal is to abstract this file into the CarState struct and make events generic
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class MockCarState:
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def __init__(self):
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self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
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def update(self, CS: car.CarState):
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self.sm.update(0)
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gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
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CS.vEgo = self.sm[gps_sock].speed
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CS.vEgoRaw = self.sm[gps_sock].speed
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return CS
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class CarSpecificEvents:
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def __init__(self, CP: structs.CarParams):
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self.CP = CP
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self.steering_unpressed = 0
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self.low_speed_alert = False
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self.no_steer_warning = False
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self.silent_steer_warning = True
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self.cruise_buttons: deque = deque([], maxlen=HYUNDAI_PREV_BUTTON_SAMPLES)
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def update(self, CS: car.CarState, CS_prev: car.CarState, CC: car.CarControl):
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if self.CP.carName in ('body', 'mock'):
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events = Events()
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elif self.CP.carName in ('subaru', 'mazda'):
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events = self.create_common_events(CS, CS_prev)
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elif self.CP.carName == 'ford':
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events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.manumatic])
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elif self.CP.carName == 'nissan':
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events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.brake])
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elif self.CP.carName == 'chrysler':
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events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.low])
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# Low speed steer alert hysteresis logic
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if self.CP.minSteerSpeed > 0. and CS.vEgo < (self.CP.minSteerSpeed + 0.5):
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self.low_speed_alert = True
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elif CS.vEgo > (self.CP.minSteerSpeed + 1.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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elif self.CP.carName == 'honda':
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events = self.create_common_events(CS, CS_prev, pcm_enable=False)
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if self.CP.pcmCruise and CS.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if self.CP.pcmCruise:
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# we engage when pcm is active (rising edge)
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if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled:
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events.add(EventName.pcmEnable)
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elif not CS.cruiseState.enabled and (CC.actuators.accel >= 0. or not self.CP.openpilotLongitudinalControl):
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# it can happen that car cruise disables while comma system is enabled: need to
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# keep braking if needed or if the speed is very low
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if CS.vEgo < self.CP.minEnableSpeed + 2.:
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# non loud alert if cruise disables below 25mph as expected (+ a little margin)
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events.add(EventName.speedTooLow)
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else:
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events.add(EventName.cruiseDisabled)
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if self.CP.minEnableSpeed > 0 and CS.vEgo < 0.001:
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events.add(EventName.manualRestart)
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elif self.CP.carName == 'toyota':
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events = self.create_common_events(CS, CS_prev)
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if self.CP.openpilotLongitudinalControl:
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if CS.cruiseState.standstill and not CS.brakePressed:
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events.add(EventName.resumeRequired)
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if CS.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if CC.actuators.accel > 0.3:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.add(EventName.speedTooLow)
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if CS.vEgo < 0.001:
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# while in standstill, send a user alert
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events.add(EventName.manualRestart)
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elif self.CP.carName == 'gm':
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# The ECM allows enabling on falling edge of set, but only rising edge of resume
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events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.sport, GearShifter.low,
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GearShifter.eco, GearShifter.manumatic],
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pcm_enable=self.CP.pcmCruise, enable_buttons=(ButtonType.decelCruise,))
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if not self.CP.pcmCruise:
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if any(b.type == ButtonType.accelCruise and b.pressed for b in CS.buttonEvents):
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events.add(EventName.buttonEnable)
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# Enabling at a standstill with brake is allowed
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# TODO: verify 17 Volt can enable for the first time at a stop and allow for all GMs
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if CS.vEgo < self.CP.minEnableSpeed and not (CS.standstill and CS.brake >= 20 and
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self.CP.networkLocation == NetworkLocation.fwdCamera):
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events.add(EventName.belowEngageSpeed)
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if CS.cruiseState.standstill:
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events.add(EventName.resumeRequired)
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if CS.vEgo < self.CP.minSteerSpeed:
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events.add(EventName.belowSteerSpeed)
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elif self.CP.carName == 'volkswagen':
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events = self.create_common_events(CS, CS_prev, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
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pcm_enable=not self.CP.openpilotLongitudinalControl,
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enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
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# Low speed steer alert hysteresis logic
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if (self.CP.minSteerSpeed - 1e-3) > VWCarControllerParams.DEFAULT_MIN_STEER_SPEED and CS.vEgo < (self.CP.minSteerSpeed + 1.):
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self.low_speed_alert = True
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elif CS.vEgo > (self.CP.minSteerSpeed + 2.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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if self.CP.openpilotLongitudinalControl:
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if CS.vEgo < self.CP.minEnableSpeed + 0.5:
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events.add(EventName.belowEngageSpeed)
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if CC.enabled and CS.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.speedTooLow)
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# TODO: this needs to be implemented generically in carState struct
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# if CC.eps_timer_soft_disable_alert: # type: ignore[attr-defined]
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# events.add(EventName.steerTimeLimit)
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elif self.CP.carName == 'hyundai':
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# On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
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# To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
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# Main button also can trigger an engagement on these cars
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self.cruise_buttons.append(any(ev.type in HYUNDAI_ENABLE_BUTTONS for ev in CS.buttonEvents))
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events = self.create_common_events(CS, CS_prev, pcm_enable=self.CP.pcmCruise, allow_enable=any(self.cruise_buttons))
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# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
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if CS.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
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self.low_speed_alert = True
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if CS.vEgo > (self.CP.minSteerSpeed + 4.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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else:
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raise ValueError(f"Unsupported car: {self.CP.carName}")
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return events
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def create_common_events(self, CS: structs.CarState, CS_prev: car.CarState, extra_gears=None, pcm_enable=True,
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allow_enable=True, enable_buttons=(ButtonType.accelCruise, ButtonType.decelCruise)):
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events = Events()
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if CS.doorOpen:
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events.add(EventName.doorOpen)
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if CS.seatbeltUnlatched:
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events.add(EventName.seatbeltNotLatched)
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if CS.gearShifter != GearShifter.drive and (extra_gears is None or
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CS.gearShifter not in extra_gears):
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events.add(EventName.wrongGear)
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if CS.gearShifter == GearShifter.reverse:
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events.add(EventName.reverseGear)
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if not CS.cruiseState.available:
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events.add(EventName.wrongCarMode)
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if CS.espDisabled:
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events.add(EventName.espDisabled)
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if CS.espActive:
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events.add(EventName.espActive)
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if CS.stockFcw:
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events.add(EventName.stockFcw)
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if CS.stockAeb:
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events.add(EventName.stockAeb)
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if CS.vEgo > MAX_CTRL_SPEED:
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events.add(EventName.speedTooHigh)
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if CS.cruiseState.nonAdaptive:
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events.add(EventName.wrongCruiseMode)
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if CS.brakeHoldActive and self.CP.openpilotLongitudinalControl:
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events.add(EventName.brakeHold)
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if CS.parkingBrake:
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events.add(EventName.parkBrake)
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if CS.accFaulted:
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events.add(EventName.accFaulted)
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if CS.steeringPressed:
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events.add(EventName.steerOverride)
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if CS.brakePressed and CS.standstill:
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events.add(EventName.preEnableStandstill)
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if CS.gasPressed:
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events.add(EventName.gasPressedOverride)
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if CS.vehicleSensorsInvalid:
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events.add(EventName.vehicleSensorsInvalid)
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if CS.invalidLkasSetting:
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events.add(EventName.invalidLkasSetting)
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if CS.lowSpeedAlert:
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events.add(EventName.belowSteerSpeed)
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# Handle button presses
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for b in CS.buttonEvents:
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# Enable OP long on falling edge of enable buttons (defaults to accelCruise and decelCruise, overridable per-port)
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if not self.CP.pcmCruise and (b.type in enable_buttons and not b.pressed):
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events.add(EventName.buttonEnable)
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# Disable on rising and falling edge of cancel for both stock and OP long
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if b.type == ButtonType.cancel:
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events.add(EventName.buttonCancel)
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# Handle permanent and temporary steering faults
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self.steering_unpressed = 0 if CS.steeringPressed else self.steering_unpressed + 1
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if CS.steerFaultTemporary:
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if CS.steeringPressed and (not CS_prev.steerFaultTemporary or self.no_steer_warning):
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self.no_steer_warning = True
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else:
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self.no_steer_warning = False
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# if the user overrode recently, show a less harsh alert
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if self.silent_steer_warning or CS.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
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self.silent_steer_warning = True
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events.add(EventName.steerTempUnavailableSilent)
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else:
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events.add(EventName.steerTempUnavailable)
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else:
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self.no_steer_warning = False
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self.silent_steer_warning = False
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if CS.steerFaultPermanent:
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events.add(EventName.steerUnavailable)
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# we engage when pcm is active (rising edge)
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# enabling can optionally be blocked by the car interface
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if pcm_enable:
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if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled and allow_enable:
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events.add(EventName.pcmEnable)
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elif not CS.cruiseState.enabled:
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events.add(EventName.pcmDisable)
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return events
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