move card to selfdrive/car/card (#31693)
* more obivous dif
* release
old-commit-hash: bc2407abeb
chrysler-long2
Justin Newberry
1 year ago
committed by
GitHub
parent
412d143ff3
commit
88467a0669
3 changed files with 145 additions and 126 deletions
@ -0,0 +1,142 @@ |
|||||||
|
#!/usr/bin/env python3 |
||||||
|
import os |
||||||
|
import time |
||||||
|
|
||||||
|
import cereal.messaging as messaging |
||||||
|
|
||||||
|
from cereal import car |
||||||
|
|
||||||
|
from panda import ALTERNATIVE_EXPERIENCE |
||||||
|
|
||||||
|
from openpilot.common.params import Params |
||||||
|
from openpilot.common.realtime import DT_CTRL |
||||||
|
|
||||||
|
from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp |
||||||
|
from openpilot.selfdrive.car.car_helpers import get_car, get_one_can |
||||||
|
from openpilot.selfdrive.car.interfaces import CarInterfaceBase |
||||||
|
|
||||||
|
|
||||||
|
REPLAY = "REPLAY" in os.environ |
||||||
|
|
||||||
|
|
||||||
|
class CarD: |
||||||
|
CI: CarInterfaceBase |
||||||
|
CS: car.CarState |
||||||
|
|
||||||
|
def __init__(self, CI=None): |
||||||
|
self.can_sock = messaging.sub_sock('can', timeout=20) |
||||||
|
self.sm = messaging.SubMaster(['pandaStates']) |
||||||
|
self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) |
||||||
|
|
||||||
|
self.can_rcv_timeout_counter = 0 # conseuctive timeout count |
||||||
|
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count |
||||||
|
|
||||||
|
self.CC_prev = car.CarState.new_message() |
||||||
|
|
||||||
|
self.last_actuators = None |
||||||
|
|
||||||
|
self.params = Params() |
||||||
|
|
||||||
|
if CI is None: |
||||||
|
# wait for one pandaState and one CAN packet |
||||||
|
print("Waiting for CAN messages...") |
||||||
|
get_one_can(self.can_sock) |
||||||
|
|
||||||
|
num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) |
||||||
|
experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") |
||||||
|
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) |
||||||
|
else: |
||||||
|
self.CI, self.CP = CI, CI.CP |
||||||
|
|
||||||
|
# set alternative experiences from parameters |
||||||
|
disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") |
||||||
|
self.CP.alternativeExperience = 0 |
||||||
|
if not disengage_on_accelerator: |
||||||
|
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS |
||||||
|
|
||||||
|
car_recognized = self.CP.carName != 'mock' |
||||||
|
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") |
||||||
|
|
||||||
|
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly |
||||||
|
|
||||||
|
self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly |
||||||
|
if self.CP.passive: |
||||||
|
safety_config = car.CarParams.SafetyConfig.new_message() |
||||||
|
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput |
||||||
|
self.CP.safetyConfigs = [safety_config] |
||||||
|
|
||||||
|
# Write previous route's CarParams |
||||||
|
prev_cp = self.params.get("CarParamsPersistent") |
||||||
|
if prev_cp is not None: |
||||||
|
self.params.put("CarParamsPrevRoute", prev_cp) |
||||||
|
|
||||||
|
# Write CarParams for radard |
||||||
|
cp_bytes = self.CP.to_bytes() |
||||||
|
self.params.put("CarParams", cp_bytes) |
||||||
|
self.params.put_nonblocking("CarParamsCache", cp_bytes) |
||||||
|
self.params.put_nonblocking("CarParamsPersistent", cp_bytes) |
||||||
|
|
||||||
|
def initialize(self): |
||||||
|
"""Initialize CarInterface, once controls are ready""" |
||||||
|
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) |
||||||
|
|
||||||
|
def state_update(self): |
||||||
|
"""carState update loop, driven by can""" |
||||||
|
|
||||||
|
# Update carState from CAN |
||||||
|
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) |
||||||
|
self.CS = self.CI.update(self.CC_prev, can_strs) |
||||||
|
|
||||||
|
self.sm.update(0) |
||||||
|
|
||||||
|
can_rcv_valid = len(can_strs) > 0 |
||||||
|
|
||||||
|
# Check for CAN timeout |
||||||
|
if not can_rcv_valid: |
||||||
|
self.can_rcv_timeout_counter += 1 |
||||||
|
self.can_rcv_cum_timeout_counter += 1 |
||||||
|
else: |
||||||
|
self.can_rcv_timeout_counter = 0 |
||||||
|
|
||||||
|
self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 |
||||||
|
|
||||||
|
if can_rcv_valid and REPLAY: |
||||||
|
self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime |
||||||
|
|
||||||
|
self.state_publish() |
||||||
|
|
||||||
|
return self.CS |
||||||
|
|
||||||
|
def state_publish(self): |
||||||
|
"""carState and carParams publish loop""" |
||||||
|
|
||||||
|
# carState |
||||||
|
cs_send = messaging.new_message('carState') |
||||||
|
cs_send.valid = self.CS.canValid |
||||||
|
cs_send.carState = self.CS |
||||||
|
self.pm.send('carState', cs_send) |
||||||
|
|
||||||
|
# carParams - logged every 50 seconds (> 1 per segment) |
||||||
|
if (self.sm.frame % int(50. / DT_CTRL) == 0): |
||||||
|
cp_send = messaging.new_message('carParams') |
||||||
|
cp_send.valid = True |
||||||
|
cp_send.carParams = self.CP |
||||||
|
self.pm.send('carParams', cp_send) |
||||||
|
|
||||||
|
# publish new carOutput |
||||||
|
co_send = messaging.new_message('carOutput') |
||||||
|
co_send.valid = True |
||||||
|
if self.last_actuators is not None: |
||||||
|
co_send.carOutput.actuatorsOutput = self.last_actuators |
||||||
|
self.pm.send('carOutput', co_send) |
||||||
|
|
||||||
|
def controls_update(self, CC: car.CarControl): |
||||||
|
"""control update loop, driven by carControl""" |
||||||
|
|
||||||
|
# send car controls over can |
||||||
|
now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) |
||||||
|
self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) |
||||||
|
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) |
||||||
|
|
||||||
|
self.CC_prev = CC |
||||||
|
|
||||||
Loading…
Reference in new issue