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card: prepare for separate process (#31660)

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* Card

* update ref

* bump cpu

* sub to caroutput

* update ref
pull/31693/head
Justin Newberry 2 years ago committed by GitHub
parent 8cd3bc65bf
commit 8ec0d87de0
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GPG Key ID: B5690EEEBB952194
8 changed files with 46 additions and 39 deletions
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  1. 2
      cereal
  2. 64
      selfdrive/controls/controlsd.py
  3. 5
      selfdrive/locationd/torqued.py
  4. 2
      selfdrive/test/process_replay/ref_commit
  5. 2
      selfdrive/test/test_onroad.py
  6. 2
      tools/plotjuggler/layouts/max-torque-debug.xml
  7. 4
      tools/plotjuggler/layouts/torque-controller.xml
  8. 4
      tools/tuning/measure_steering_accuracy.py

2
cereal

@ -1 +1 @@
Subproject commit bfbb0cab83e3ad49d85ad1a34ee1241bf1ff782f
Subproject commit 0172e60275b11074ff4e6b65378a12f3936fa95a

64
selfdrive/controls/controlsd.py
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@ -68,11 +68,15 @@ class CarD:
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'])
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:
@ -118,14 +122,12 @@ class CarD:
"""Initialize CarInterface, once controls are ready"""
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
def state_update(self, CC: car.CarControl):
def state_update(self):
"""carState update loop, driven by can"""
# TODO: This should not depend on carControl
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
self.CS = self.CI.update(CC, can_strs)
self.CS = self.CI.update(self.CC_prev, can_strs)
self.sm.update(0)
@ -143,18 +145,17 @@ class CarD:
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, car_events):
def state_publish(self):
"""carState and carParams publish loop"""
# TODO: carState should be independent of the event loop
# carState
cs_send = messaging.new_message('carState')
cs_send.valid = self.CS.canValid
cs_send.carState = self.CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carParams - logged every 50 seconds (> 1 per segment)
@ -164,25 +165,36 @@ class CarD:
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)
actuators_output, can_sends = self.CI.apply(CC, now_nanos)
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))
return actuators_output
self.CC_prev = CC
class Controls:
def __init__(self, CI=None):
self.card = CarD(CI)
self.CP = self.card.CP
self.params = Params()
with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg:
# TODO: this shouldn't need to be a builder
self.CP = msg.as_builder()
self.CI = self.card.CI
config_realtime_process(4, Priority.CTRL_HIGH)
# Ensure the current branch is cached, otherwise the first iteration of controlsd lags
self.branch = get_short_branch()
@ -195,12 +207,11 @@ class Controls:
self.log_sock = messaging.sub_sock('androidLog')
self.params = Params()
ignore = self.sensor_packets + ['testJoystick']
if SIMULATION:
ignore += ['driverCameraState', 'managerState']
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
'testJoystick'] + self.camera_packets + self.sensor_packets,
ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ],
@ -212,15 +223,12 @@ class Controls:
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
# cleanup old params
if not self.CP.experimentalLongitudinalAvailable:
self.params.remove("ExperimentalLongitudinalEnabled")
@ -267,7 +275,7 @@ class Controls:
self.can_log_mono_time = 0
self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
@ -513,7 +521,7 @@ class Controls:
def data_sample(self):
"""Receive data from sockets and update carState"""
CS = self.card.state_update(self.CC)
CS = self.card.state_update()
self.sm.update(0)
@ -771,6 +779,8 @@ class Controls:
def publish_logs(self, CS, start_time, CC, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
CO = self.sm['carOutput']
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller
orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
@ -833,13 +843,12 @@ class Controls:
hudControl.visualAlert = current_alert.visual_alert
if not self.CP.passive and self.initialized:
self.last_actuators = self.card.controls_update(CC)
CC.actuatorsOutput = self.last_actuators
self.card.controls_update(CC)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
STEER_ANGLE_SATURATION_THRESHOLD
else:
self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
@ -896,15 +905,11 @@ class Controls:
self.pm.send('controlsState', dat)
car_events = self.events.to_msg()
self.card.state_publish(car_events)
# onroadEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('onroadEvents', len(self.events))
ce_send.valid = True
ce_send.onroadEvents = car_events
ce_send.onroadEvents = self.events.to_msg()
self.pm.send('onroadEvents', ce_send)
self.events_prev = self.events.names.copy()
@ -961,6 +966,7 @@ class Controls:
def main():
config_realtime_process(4, Priority.CTRL_HIGH)
controls = Controls()
controls.controlsd_thread()

5
selfdrive/locationd/torqued.py
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@ -159,8 +159,9 @@ class TorqueEstimator(ParameterEstimator):
def handle_log(self, t, which, msg):
if which == "carControl":
self.raw_points["carControl_t"].append(t + self.lag)
self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
self.raw_points["active"].append(msg.latActive)
elif which == "carOutput":
self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer)
elif which == "carState":
self.raw_points["carState_t"].append(t + self.lag)
self.raw_points["vego"].append(msg.vEgo)
@ -218,7 +219,7 @@ def main(demo=False):
config_realtime_process([0, 1, 2, 3], 5)
pm = messaging.PubMaster(['liveTorqueParameters'])
sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman')
params = Params()
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
99a50fe1b645bc1dcbf621e9cb72d151c6896429
43efe1cf08cba8c86bc1ae8234b3d3d084a40e5d

2
selfdrive/test/test_onroad.py
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@ -29,7 +29,7 @@ from openpilot.tools.lib.logreader import LogReader
# Baseline CPU usage by process
PROCS = {
"selfdrive.controls.controlsd": 41.0,
"selfdrive.controls.controlsd": 46.0,
"./loggerd": 14.0,
"./encoderd": 17.0,
"./camerad": 14.5,

2
tools/plotjuggler/layouts/max-torque-debug.xml
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@ -24,7 +24,7 @@
<range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
<limitY/>
<curve color="#0097ff" name="/carState/steeringPressed"/>
<curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
<curve color="#d62728" name="/carOutput/actuatorsOutput/steer"/>
</plot>
</DockArea>
<DockArea name="...">

4
tools/plotjuggler/layouts/torque-controller.xml
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@ -24,8 +24,8 @@
<plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
<range bottom="-1.134948" top="1.052072" left="825.563261" right="1415.827546"/>
<limitY/>
<curve name="/carControl/actuatorsOutput/steer" color="#9467bd">
<transform name="Scale/Offset" alias="/carControl/actuatorsOutput/steer[Scale/Offset]">
<curve name="/carOutput/actuatorsOutput/steer" color="#9467bd">
<transform name="Scale/Offset" alias="/carOutput/actuatorsOutput/steer[Scale/Offset]">
<options time_offset="0" value_scale="-1" value_offset="0"/>
</transform>
</curve>

4
tools/tuning/measure_steering_accuracy.py
Unescape View File

@ -47,7 +47,7 @@ class SteeringAccuracyTool:
v_ego = sm['carState'].vEgo
active = sm['controlsState'].active
steer = sm['carControl'].actuatorsOutput.steer
steer = sm['carOutput'].actuatorsOutput.steer
standstill = sm['carState'].standstill
steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
overriding = sm['carState'].steeringPressed
@ -150,7 +150,7 @@ if __name__ == "__main__":
messaging.context = messaging.Context()
carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr)
sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)
time.sleep(1) # Make sure all submaster data is available before going further
print("waiting for messages...")

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