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Abstract pcmEnable and pcmDisable events (#1350)

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* don't need individual prev state vars since whole CS is copied

* don't need a whole function since toyota alerts were simplified

* better here

* abstract pcmEnable/pcmDisable events

* the flippening came to NEOS

* delete

* unused

* Revert "the flippening came to NEOS"

This reverts commit 91cfb73b29.
old-commit-hash: 8d791d78dd
commatwo_master
Adeeb 5 years ago committed by GitHub
parent ce4958dc3a
commit 15916d03f4
12 changed files with 27 additions and 127 deletions
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  1. 1
      selfdrive/car/chrysler/carcontroller.py
  2. 11
      selfdrive/car/chrysler/interface.py
  3. 11
      selfdrive/car/ford/interface.py
  4. 16
      selfdrive/car/gm/interface.py
  5. 6
      selfdrive/car/honda/interface.py
  6. 9
      selfdrive/car/hyundai/interface.py
  7. 17
      selfdrive/car/interfaces.py
  8. 11
      selfdrive/car/nissan/interface.py
  9. 14
      selfdrive/car/subaru/interface.py
  10. 37
      selfdrive/car/toyota/carcontroller.py
  11. 10
      selfdrive/car/toyota/interface.py
  12. 11
      selfdrive/car/volkswagen/interface.py

1
selfdrive/car/chrysler/carcontroller.py
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@ -6,7 +6,6 @@ from opendbc.can.packer import CANPacker
class CarController():
def __init__(self, dbc_name, CP, VM):
self.braking = False
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1

11
selfdrive/car/chrysler/interface.py
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@ -73,22 +73,13 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = []
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], gas_resume_speed = 2.)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low], gas_resume_speed=2.)
if ret.vEgo < self.CP.minSteerSpeed:
events.append(create_event('belowSteerSpeed', [ET.WARNING]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
# copy back carState packet to CS
self.CS.out = ret.as_reader()

11
selfdrive/car/ford/interface.py
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@ -61,23 +61,12 @@ class CarInterface(CarInterfaceBase):
# events
events = self.create_common_events(ret)
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader()
return self.CS.out
# pass in a car.CarControl

16
selfdrive/car/gm/interface.py
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@ -159,15 +159,10 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
events = self.create_common_events(ret)
supercruise = self.CS.car_fingerprint in SUPERCRUISE_CARS
events = self.create_common_events(ret, pcm_enable=supercruise)
if self.CS.car_fingerprint in SUPERCRUISE_CARS:
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
else:
if not supercruise:
# TODO: why is this only not supercruise? ignore supercruise?
if ret.vEgo < self.CP.minEnableSpeed:
events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
@ -189,11 +184,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events
# update previous brake/gas pressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
# copy back carState packet to CS
self.CS.out = ret.as_reader()

6
selfdrive/car/honda/interface.py
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@ -454,7 +454,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = buttonEvents
# events
events = self.create_common_events(ret)
events = self.create_common_events(ret, pcm_enable=False)
if self.CS.brake_error:
events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
@ -506,10 +506,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events
# update previous brake/gas pressed
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.CS.out = ret.as_reader()
return self.CS.out

9
selfdrive/car/hyundai/interface.py
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@ -109,11 +109,6 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
self.low_speed_alert = True
@ -124,10 +119,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader()
return self.CS.out

17
selfdrive/car/interfaces.py
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@ -17,9 +17,6 @@ class CarInterfaceBase():
self.VM = VehicleModel(CP)
self.frame = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
self.low_speed_alert = False
self.CS = CarState(CP)
@ -81,7 +78,7 @@ class CarInterfaceBase():
def apply(self, c):
raise NotImplementedError
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1):
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True):
events = []
if cs_out.doorOpen:
@ -108,10 +105,17 @@ class CarInterfaceBase():
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if (cs_out.gasPressed and (not self.gas_pressed_prev) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.brake_pressed_prev or not cs_out.standstill)):
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
# we engage when pcm is active (rising edge)
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not cs_out.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
return events
class RadarInterfaceBase():
@ -133,6 +137,7 @@ class CarStateBase:
self.CP = CP
self.car_fingerprint = CP.carFingerprint
self.cruise_buttons = 0
self.out = car.CarState.new_message()
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3

11
selfdrive/car/nissan/interface.py
Unescape View File

@ -75,22 +75,11 @@ class CarInterface(CarInterfaceBase):
events = self.create_common_events(ret)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
if self.CS.lkas_enabled:
events.append(create_event('invalidLkasSetting', [ET.PERMANENT]))
ret.events = events
# update previous brake/gas pressed
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader()
return self.CS.out

14
selfdrive/car/subaru/interface.py
Unescape View File

@ -1,7 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.subaru.values import CAR
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -66,18 +65,7 @@ class CarInterface(CarInterfaceBase):
be.type = car.CarState.ButtonEvent.Type.accelCruise
buttonEvents.append(be)
events = self.create_common_events(ret)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
ret.events = self.create_common_events(ret)
self.CS.out = ret.as_reader()
return self.CS.out

37
selfdrive/car/toyota/carcontroller.py
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@ -29,25 +29,10 @@ def accel_hysteresis(accel, accel_steady, enabled):
return accel, accel_steady
def process_hud_alert(hud_alert):
# initialize to no alert
steer = 0
fcw = 0
if hud_alert == VisualAlert.fcw:
fcw = 1
elif hud_alert == VisualAlert.steerRequired:
steer = 1
return steer, fcw
class CarController():
def __init__(self, dbc_name, CP, VM):
self.braking = False
self.last_steer = 0
self.accel_steady = 0.
self.car_fingerprint = CP.carFingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
@ -142,30 +127,28 @@ class CarController():
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
alert_out = process_hud_alert(hud_alert)
steer, fcw = alert_out
fcw_alert = hud_alert == VisualAlert.fcw
steer_alert = hud_alert == VisualAlert.steerRequired
if (any(alert_out) and not self.alert_active) or \
(not any(alert_out) and self.alert_active):
send_ui = False
if ((fcw_alert or steer_alert) and not self.alert_active) or \
(not (fcw_alert or steer_alert) and self.alert_active):
send_ui = True
self.alert_active = not self.alert_active
else:
send_ui = False
# disengage msg causes a bad fault sound so play a good sound instead
if pcm_cancel_cmd:
elif pcm_cancel_cmd:
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
can_sends.append(create_fcw_command(self.packer, fcw))
can_sends.append(create_fcw_command(self.packer, fcw_alert))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and self.car_fingerprint in cars:
if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends

10
selfdrive/car/toyota/interface.py
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@ -310,18 +310,8 @@ class CarInterface(CarInterfaceBase):
# while in standstill, send a user alert
events.append(create_event('manualRestart', [ET.WARNING]))
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
elif not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
ret.events = events
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.CS.out = ret.as_reader()
return self.CS.out

11
selfdrive/car/volkswagen/interface.py
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@ -112,22 +112,11 @@ class CarInterface(CarInterfaceBase):
if self.CS.steeringFault:
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
# Engagement and longitudinal control using stock ACC. Make sure OP is
# disengaged if stock ACC is disengaged.
if not ret.cruiseState.enabled:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# Attempt OP engagement only on rising edge of stock ACC engagement.
elif not self.cruise_enabled_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
ret.events = events
ret.buttonEvents = buttonEvents
ret.canMonoTimes = canMonoTimes
# update previous car states
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.displayMetricUnitsPrev = self.CS.displayMetricUnits
self.buttonStatesPrev = self.CS.buttonStates.copy()

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