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272 lines
9.8 KiB
272 lines
9.8 KiB
#!/usr/bin/env python
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from common.realtime import sec_since_boot
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
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from selfdrive.car.chrysler.values import ECU, check_ecu_msgs, CAR
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class CarInterface(object):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.VM = VehicleModel(CP)
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self.frame = 0
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self.can_invalid_count = 0
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self.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.cruise_enabled_prev = False
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self.low_speed_alert = False
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# *** init the major players ***
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self.CS = CarState(CP)
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self.cp = get_can_parser(CP)
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self.cp_cam = get_camera_parser(CP)
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self.CC = None
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if CarController is not None:
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self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 3.0
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.0
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@staticmethod
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def get_params(candidate, fingerprint, vin=""):
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# kg of standard extra cargo to count for drive, gas, etc...
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std_cargo = 136
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ret = car.CarParams.new_message()
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ret.carName = "chrysler"
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ret.carFingerprint = candidate
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ret.carVin = vin
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ret.safetyModel = car.CarParams.SafetyModels.chrysler
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# pedal
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ret.enableCruise = True
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# FIXME: hardcoding honda civic 2016 touring params so they can be used to
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# scale unknown params for other cars
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mass_civic = 2923./2.205 + std_cargo
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wheelbase_civic = 2.70
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centerToFront_civic = wheelbase_civic * 0.4
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centerToRear_civic = wheelbase_civic - centerToFront_civic
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rotationalInertia_civic = 2500
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tireStiffnessFront_civic = 85400 * 2.0
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tireStiffnessRear_civic = 90000 * 2.0
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# Speed conversion: 20, 45 mph
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ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
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ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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ret.mass = 2858 + std_cargo # kg curb weight Pacifica Hybrid 2017
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15,0.30], [0.03,0.05]]
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ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 0.7
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if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
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ret.wheelbase = 2.91 # in meters
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ret.steerRatio = 12.7
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ret.steerActuatorDelay = 0.2 # in seconds
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ret.centerToFront = ret.wheelbase * 0.44
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ret.minSteerSpeed = 3.8 # m/s
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.JEEP_CHEROKEE_2019):
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
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centerToRear = ret.wheelbase - ret.centerToFront
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = rotationalInertia_civic * \
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ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront = tireStiffnessFront_civic * \
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ret.mass / mass_civic * \
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(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
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ret.tireStiffnessRear = tireStiffnessRear_civic * \
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ret.mass / mass_civic * \
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(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
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# no rear steering, at least on the listed cars above
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ret.steerRatioRear = 0.
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.brakeMaxBP = [5., 20.]
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ret.brakeMaxV = [1., 0.8]
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ret.enableCamera = not check_ecu_msgs(fingerprint, ECU.CAM)
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print("ECU Camera Simulated: {0}".format(ret.enableCamera))
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ret.openpilotLongitudinalControl = False
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ret.steerLimitAlert = True
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ret.stoppingControl = False
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ret.startAccel = 0.0
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ret.longitudinalTuning.deadzoneBP = [0., 9.]
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ret.longitudinalTuning.deadzoneV = [0., .15]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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return ret
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# returns a car.CarState
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def update(self, c):
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# ******************* do can recv *******************
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canMonoTimes = []
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can_valid, _ = self.cp.update(int(sec_since_boot() * 1e9), True)
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cam_valid, _ = self.cp_cam.update(int(sec_since_boot() * 1e9), False)
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can_rcv_error = not can_valid or not cam_valid
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self.CS.update(self.cp, self.cp_cam)
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# create message
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ret = car.CarState.new_message()
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.aEgo = self.CS.a_ego
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ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# gear shifter
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ret.gearShifter = self.CS.gear_shifter
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# gas pedal
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ret.gas = self.CS.car_gas
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ret.gasPressed = self.CS.pedal_gas > 0
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# brake pedal
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ret.brake = self.CS.user_brake
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ret.brakePressed = self.CS.brake_pressed
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ret.brakeLights = self.CS.brake_lights
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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ret.steeringRate = self.CS.angle_steers_rate
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ret.steeringTorque = self.CS.steer_torque_driver
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ret.steeringPressed = self.CS.steer_override
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# cruise state
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ret.cruiseState.enabled = self.CS.pcm_acc_status # same as main_on
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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ret.cruiseState.available = self.CS.main_on
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ret.cruiseState.speedOffset = 0.
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# ignore standstill in hybrid rav4, since pcm allows to restart without
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# receiving any special command
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ret.cruiseState.standstill = False
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# TODO: button presses
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buttonEvents = []
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'leftBlinker'
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be.pressed = self.CS.left_blinker_on != 0
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'rightBlinker'
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be.pressed = self.CS.right_blinker_on != 0
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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ret.leftBlinker = bool(self.CS.left_blinker_on)
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ret.rightBlinker = bool(self.CS.right_blinker_on)
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ret.doorOpen = not self.CS.door_all_closed
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ret.seatbeltUnlatched = not self.CS.seatbelt
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self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
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ret.genericToggle = self.CS.generic_toggle
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#ret.lkasCounter = self.CS.lkas_counter
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#ret.lkasCarModel = self.CS.lkas_car_model
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# events
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events = []
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if not self.CS.can_valid:
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self.can_invalid_count += 1
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else:
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self.can_invalid_count = 0
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if can_rcv_error or self.can_invalid_count >= 5:
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events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if not (ret.gearShifter in ('drive', 'low')):
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.esp_disabled:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.main_on:
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events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gearShifter == 'reverse':
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steer_error:
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events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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elif not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on gas pedal and speed isn't zero. Gas pedal is used to resume ACC
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# from a 3+ second stop.
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if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if self.low_speed_alert:
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events.append(create_event('belowSteerSpeed', [ET.WARNING]))
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ret.events = events
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ret.canMonoTimes = canMonoTimes
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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return ret.as_reader()
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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if (self.CS.frame == -1):
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return [] # if we haven't seen a frame 220, then do not update.
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self.frame = self.CS.frame
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can_sends = self.CC.update(c.enabled, self.CS, self.frame,
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c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
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c.hudControl.audibleAlert)
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return can_sends
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