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203 lines
8.3 KiB
203 lines
8.3 KiB
5 years ago
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from cereal import car
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from common.numpy_fast import mean
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from common.kalman.simple_kalman import KF1D
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from opendbc.can.can_define import CANDefine
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from opendbc.can.parser import CANParser
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from selfdrive.config import Conversions as CV
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from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR
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GearShifter = car.CarState.GearShifter
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def parse_gear_shifter(gear, vals):
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val_to_capnp = {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
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'D': GearShifter.drive, 'B': GearShifter.brake}
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try:
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return val_to_capnp[vals[gear]]
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except KeyError:
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return GearShifter.unknown
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
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("GEAR", "GEAR_PACKET", 0),
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("BRAKE_PRESSED", "BRAKE_MODULE", 0),
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("GAS_PEDAL", "GAS_PEDAL", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("DOOR_OPEN_FL", "SEATS_DOORS", 1),
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("DOOR_OPEN_FR", "SEATS_DOORS", 1),
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("DOOR_OPEN_RL", "SEATS_DOORS", 1),
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("DOOR_OPEN_RR", "SEATS_DOORS", 1),
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("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
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("TC_DISABLED", "ESP_CONTROL", 1),
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("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
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("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
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("CRUISE_ACTIVE", "PCM_CRUISE", 0),
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("CRUISE_STATE", "PCM_CRUISE", 0),
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("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
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("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
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("LKA_STATE", "EPS_STATUS", 0),
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("IPAS_STATE", "EPS_STATUS", 1),
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("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
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("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
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]
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checks = [
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("BRAKE_MODULE", 40),
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("GAS_PEDAL", 33),
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("WHEEL_SPEEDS", 80),
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("STEER_ANGLE_SENSOR", 80),
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("PCM_CRUISE", 33),
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("STEER_TORQUE_SENSOR", 50),
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("EPS_STATUS", 25),
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]
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if CP.carFingerprint == CAR.LEXUS_IS:
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signals.append(("MAIN_ON", "DSU_CRUISE", 0))
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signals.append(("SET_SPEED", "DSU_CRUISE", 0))
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checks.append(("DSU_CRUISE", 5))
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else:
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signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
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signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
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signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
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checks.append(("PCM_CRUISE_2", 33))
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if CP.carFingerprint in NO_DSU_CAR:
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signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
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if CP.carFingerprint == CAR.PRIUS:
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signals += [("STATE", "AUTOPARK_STATUS", 0)]
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# add gas interceptor reading if we are using it
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if CP.enableGasInterceptor:
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signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
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signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
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checks.append(("GAS_SENSOR", 50))
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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def get_cam_can_parser(CP):
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signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
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# use steering message to check if panda is connected to frc
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checks = [("STEERING_LKA", 42)]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
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class CarState():
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def __init__(self, CP):
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self.CP = CP
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self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
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self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
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self.left_blinker_on = 0
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self.right_blinker_on = 0
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self.angle_offset = 0.
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self.init_angle_offset = False
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# initialize can parser
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self.car_fingerprint = CP.carFingerprint
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# vEgo kalman filter
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dt = 0.01
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
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A=[[1.0, dt], [0.0, 1.0]],
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C=[1.0, 0.0],
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K=[[0.12287673], [0.29666309]])
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self.v_ego = 0.0
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def update(self, cp, cp_cam):
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# update prevs, update must run once per loop
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self.prev_left_blinker_on = self.left_blinker_on
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self.prev_right_blinker_on = self.right_blinker_on
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self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'],
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cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']])
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self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED']
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self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED']
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if self.CP.enableGasInterceptor:
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self.pedal_gas = (cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS'] + cp.vl["GAS_SENSOR"]['INTERCEPTOR_GAS2']) / 2.
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else:
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self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL']
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self.car_gas = self.pedal_gas
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self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED']
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# calc best v_ego estimate, by averaging two opposite corners
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self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS
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self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS
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self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS
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self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS
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v_wheel = mean([self.v_wheel_fl, self.v_wheel_fr, self.v_wheel_rl, self.v_wheel_rr])
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# Kalman filter
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if abs(v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[v_wheel], [0.0]]
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self.v_ego_raw = v_wheel
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v_ego_x = self.v_ego_kf.update(v_wheel)
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self.v_ego = float(v_ego_x[0])
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self.a_ego = float(v_ego_x[1])
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self.standstill = not v_wheel > 0.001
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if self.CP.carFingerprint in TSS2_CAR:
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self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE']
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elif self.CP.carFingerprint in NO_DSU_CAR:
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# cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] is zeroed to where the steering angle is at start.
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# need to apply an offset as soon as the steering angle measurements are both received
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self.angle_steers = cp.vl["STEER_TORQUE_SENSOR"]['STEER_ANGLE'] - self.angle_offset
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angle_wheel = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
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if abs(angle_wheel) > 1e-3 and abs(self.angle_steers) > 1e-3 and not self.init_angle_offset:
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self.init_angle_offset = True
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self.angle_offset = self.angle_steers - angle_wheel
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else:
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self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION']
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self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE']
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can_gear = int(cp.vl["GEAR_PACKET"]['GEAR'])
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self.gear_shifter = parse_gear_shifter(can_gear, self.shifter_values)
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if self.CP.carFingerprint == CAR.LEXUS_IS:
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self.main_on = cp.vl["DSU_CRUISE"]['MAIN_ON']
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else:
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self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON']
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self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
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self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
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# 2 is standby, 10 is active. TODO: check that everything else is really a faulty state
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self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE']
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self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [1, 5]
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self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
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self.brake_error = 0
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self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']
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self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS']
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# we could use the override bit from dbc, but it's triggered at too high torque values
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self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
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self.user_brake = 0
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if self.CP.carFingerprint == CAR.LEXUS_IS:
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self.v_cruise_pcm = cp.vl["DSU_CRUISE"]['SET_SPEED']
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self.low_speed_lockout = False
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else:
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self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED']
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self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2
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self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE']
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self.pcm_acc_active = bool(cp.vl["PCM_CRUISE"]['CRUISE_ACTIVE'])
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self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed)
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if self.CP.carFingerprint == CAR.PRIUS:
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self.generic_toggle = cp.vl["AUTOPARK_STATUS"]['STATE'] != 0
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else:
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self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])
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self.stock_aeb = bool(cp_cam.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_cam.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
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