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Chrysler: carstate returns capnp struct directly (#1110)

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* Before abstraction, adding speed init from VW as well

* strting to abstract carstate class

* fix bug and update lock?

* revert pipfile change

* another bug

* fix linter

* bug fix

* remove a bunch of diplicated kf code

* better to not have class vars. will abstract __init__ anyway later

* abstract common instance vars in carstate init and a generic gear parser static method

* abstract gear parser for chrysler

* abstract gm gear parser too

* remove unnecessary random vars

* Chrysler: carstate returns capnp struct directly

* revert ref commit

* test ref

* ops, missed this conflict

* not sure why this got deleted

* no need to copy

* remove copy import

Co-authored-by: Willem Melching <willem.melching@gmail.com>
pull/1113/head
rbiasini 5 years ago committed by GitHub
parent 11ec8e64fd
commit 703eb511da
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4 changed files with 60 additions and 95 deletions
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  1. 10
      selfdrive/car/chrysler/carcontroller.py
  2. 75
      selfdrive/car/chrysler/carstate.py
  3. 68
      selfdrive/car/chrysler/interface.py
  4. 2
      selfdrive/test/process_replay/ref_commit

10
selfdrive/car/chrysler/carcontroller.py
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@ -35,14 +35,14 @@ class CarController():
# steer torque
new_steer = actuators.steer * SteerLimitParams.STEER_MAX
apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
CS.steer_torque_motor, SteerLimitParams)
CS.out.steeringTorqueEps, SteerLimitParams)
self.steer_rate_limited = new_steer != apply_steer
moving_fast = CS.v_ego > CS.CP.minSteerSpeed # for status message
if CS.v_ego > (CS.CP.minSteerSpeed - 0.5): # for command high bit
moving_fast = CS.out.vEgo > CS.CP.minSteerSpeed # for status message
if CS.out.vEgo > (CS.CP.minSteerSpeed - 0.5): # for command high bit
self.gone_fast_yet = True
elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019):
if CS.v_ego < (CS.CP.minSteerSpeed - 3.0):
if CS.out.vEgo < (CS.CP.minSteerSpeed - 3.0):
self.gone_fast_yet = False # < 14.5m/s stock turns off this bit, but fine down to 13.5
lkas_active = moving_fast and enabled
@ -65,7 +65,7 @@ class CarController():
if (self.ccframe % 25 == 0): # 0.25s period
if (CS.lkas_car_model != -1):
new_msg = create_lkas_hud(
self.packer, CS.gear_shifter, lkas_active, hud_alert,
self.packer, CS.out.gearShifter, lkas_active, hud_alert,
self.hud_count, CS.lkas_car_model)
can_sends.append(new_msg)
self.hud_count += 1

75
selfdrive/car/chrysler/carstate.py
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@ -1,5 +1,7 @@
from cereal import car
from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
@ -69,52 +71,53 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
# update prevs, update must run once per loop
self.prev_left_blinker_on = self.left_blinker_on
self.prev_right_blinker_on = self.right_blinker_on
ret = car.CarState.new_message()
self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
cp.vl["DOORS"]['DOOR_OPEN_FR'],
cp.vl["DOORS"]['DOOR_OPEN_RL'],
cp.vl["DOORS"]['DOOR_OPEN_RR']])
self.seatbelt = (cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 0)
ret.doorOpen = any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
cp.vl["DOORS"]['DOOR_OPEN_FR'],
cp.vl["DOORS"]['DOOR_OPEN_RL'],
cp.vl["DOORS"]['DOOR_OPEN_RR']])
ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 1
ret.brakePressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
ret.brake = 0
ret.brakeLights = ret.brakePressed
ret.gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
ret.gasPressed = ret.gas > 1e-5
self.brake_pressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
self.pedal_gas = cp.vl["ACCEL_GAS_134"]['ACCEL_134']
self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
self.v_wheel_fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
self.v_ego_raw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
self.v_ego, self.a_ego = self.update_speed_kf(self.v_ego_raw)
self.standstill = not self.v_ego_raw > 0.001
self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE']
self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE']
self.gear_shifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
self.main_on = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
self.steer_torque_driver = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
self.steer_torque_motor = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
ret.wheelSpeeds.fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
ret.wheelSpeeds.rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
ret.wheelSpeeds.rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
ret.wheelSpeeds.fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
ret.vEgoRaw = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
ret.standstill = not ret.vEgoRaw > 0.001
ret.leftBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
ret.rightBlinker = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
ret.steeringAngle = cp.vl["STEERING"]['STEER_ANGLE']
ret.steeringRate = cp.vl["STEERING"]['STEERING_RATE']
ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl['GEAR']['PRNDL'], None))
ret.cruiseState.enabled = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
ret.cruiseState.available = ret.cruiseState.enabled # FIXME: for now same as enabled
ret.cruiseState.speed = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH'] * CV.KPH_TO_MS
ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
self.steer_error = steer_state == 4 or (steer_state == 0 and self.v_ego > self.CP.minSteerSpeed)
self.user_brake = 0
self.brake_lights = self.brake_pressed
self.v_cruise_pcm = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH']
self.pcm_acc_status = self.main_on
self.steer_error = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]['COUNTER']
self.lkas_car_model = cp_cam.vl["LKAS_HUD"]['CAR_MODEL']
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
return ret

68
selfdrive/car/chrysler/interface.py
Unescape View File

@ -20,6 +20,8 @@ class CarInterface(CarInterfaceBase):
self.brake_pressed_prev = False
self.cruise_enabled_prev = False
self.low_speed_alert = False
self.left_blinker_prev = False
self.right_blinker_prev = False
# *** init the major players ***
self.CS = CarState(CP)
@ -113,78 +115,33 @@ class CarInterface(CarInterfaceBase):
self.cp.update_strings(can_strings)
self.cp_cam.update_strings(can_strings)
self.CS.update(self.cp, self.cp_cam)
# create message
ret = car.CarState.new_message()
ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.aEgo = self.CS.a_ego
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gear shifter
ret.gearShifter = self.CS.gear_shifter
# gas pedal
ret.gas = self.CS.pedal_gas
ret.gasPressed = self.CS.pedal_gas > 0
# brake pedal
ret.brake = self.CS.user_brake
ret.brakePressed = self.CS.brake_pressed
ret.brakeLights = self.CS.brake_lights
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringPressed = self.CS.steer_override
ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status # same as main_on
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = self.CS.main_on
ret.cruiseState.speedOffset = 0.
ret.cruiseState.standstill = False
# TODO: button presses
buttonEvents = []
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
if ret.leftBlinker != self.left_blinker_prev:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.leftBlinker
be.pressed = self.CS.left_blinker_on != 0
be.pressed = ret.leftBlinker != 0
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
if ret.rightBlinker != self.right_blinker_prev:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.rightBlinker
be.pressed = self.CS.right_blinker_on != 0
be.pressed = ret.rightBlinker != 0
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
ret.leftBlinker = bool(self.CS.left_blinker_on)
ret.rightBlinker = bool(self.CS.right_blinker_on)
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed)
ret.genericToggle = self.CS.generic_toggle
#ret.lkasCounter = self.CS.lkas_counter
#ret.lkasCarModel = self.CS.lkas_car_model
# events
events = []
if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)):
@ -195,7 +152,7 @@ class CarInterface(CarInterfaceBase):
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
if not ret.cruiseState.available:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == GearShifter.reverse:
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
@ -220,8 +177,13 @@ class CarInterface(CarInterfaceBase):
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = ret.brakePressed
self.cruise_enabled_prev = ret.cruiseState.enabled
self.left_blinker_prev = ret.leftBlinker
self.right_blinker_prev = ret.rightBlinker
# copy back carState packet to CS
self.CS.out = ret.as_reader()
return ret.as_reader()
return self.CS.out
# pass in a car.CarControl
# to be called @ 100hz

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
bc89e6f25e88a904ad905296d516aaebb77e2207
917e6889be1691fb96e7566a92e0c6bbefc861a4
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