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Merge remote-tracking branch 'upstream/master' into card

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pull/32380/head
Shane Smiskol 12 months ago
parent db74dced60 84c15e9d31
commit a74ee2426f
5 changed files with 37 additions and 25 deletions
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  1. 15
      poetry.lock
  2. 1
      pyproject.toml
  3. 10
      selfdrive/car/card.py
  4. 22
      selfdrive/controls/controlsd.py
  5. 14
      selfdrive/controls/lib/events.py

15
poetry.lock generated
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@ -1,4 +1,4 @@
# This file is automatically @generated by Poetry 1.8.2 and should not be changed by hand.
# This file is automatically @generated by Poetry 1.7.0 and should not be changed by hand.
[[package]]
name = "aiohttp"
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@ -7976,4 +7987,4 @@ testing = ["big-O", "jaraco.functools", "jaraco.itertools", "more-itertools", "p
[metadata]
lock-version = "2.0"
python-versions = "~3.11"
content-hash = "c37bfb79c177dce06c46186b6ff04e29415d0d35c844674d79f93141693d9d91"
content-hash = "5f0a1b6f26faa3effeaa5393b73d9188be385a72c1d3b9befb3f03df3b38c86d"

1
pyproject.toml
Unescape View File

@ -107,7 +107,6 @@ sounddevice = "*"
spidev = { version = "*", platform = "linux" }
sympy = "*"
websocket_client = "*"
sortedcontainers = "*"
# acados deps
casadi = "*"

10
selfdrive/car/card.py
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@ -15,11 +15,13 @@ from openpilot.common.swaglog import cloudlog
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
from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper
from openpilot.selfdrive.controls.lib.events import Events
REPLAY = "REPLAY" in os.environ
EventName = car.CarEvent.EventName
ButtonType = car.CarState.ButtonEvent.Type
class Car:
@ -37,6 +39,7 @@ class Car:
self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count
self.CC_prev = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()
self.controlsState_prev = car.CarState.new_message()
self.last_actuators_output = car.CarControl.Actuators.new_message()
@ -81,8 +84,8 @@ class Car:
self.params.put_nonblocking("CarParamsCache", cp_bytes)
self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
self.CS_prev = car.CarState.new_message()
self.events = Events()
self.v_cruise_helper = VCruiseHelper(self.CP)
# card is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
@ -119,6 +122,11 @@ class Car:
self.events.add_from_msg(CS.events)
# Block resume if cruise never previously enabled
resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
self.events.add(EventName.resumeBlocked)
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \

22
selfdrive/controls/controlsd.py
Unescape View File

@ -20,7 +20,7 @@ from openpilot.common.swaglog import cloudlog
from openpilot.selfdrive.car.car_helpers import get_car_interface, get_startup_event
from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature
from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
from openpilot.selfdrive.controls.lib.events import Events, ET
from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
@ -146,7 +146,6 @@ class Controls:
self.desired_curvature = 0.0
self.experimental_mode = False
self.personality = self.read_personality_param()
self.v_cruise_helper = VCruiseHelper(self.CP)
self.recalibrating_seen = False
self.can_log_mono_time = 0
@ -172,7 +171,7 @@ class Controls:
controls_state = self.params.get("ReplayControlsState")
if controls_state is not None:
with log.ControlsState.from_bytes(controls_state) as controls_state:
self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
self.card.v_cruise_helper.v_cruise_kph = controls_state.vCruise
if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
self.state = State.enabled
@ -201,11 +200,6 @@ class Controls:
if self.CP.passive:
return
# Block resume if cruise never previously enabled
resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
if not self.CP.pcmCruise and not self.v_cruise_helper.v_cruise_initialized and resume_pressed:
self.events.add(EventName.resumeBlocked)
if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
@ -433,7 +427,7 @@ class Controls:
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
self.card.v_cruise_helper.update_v_cruise(CS, self.enabled, self.is_metric)
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
@ -508,7 +502,7 @@ class Controls:
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
self.card.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
@ -564,7 +558,7 @@ class Controls:
if not self.joystick_mode:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.card.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.recv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
@ -667,7 +661,7 @@ class Controls:
CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
hudControl = CC.hudControl
hudControl.setSpeed = float(self.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
hudControl.setSpeed = float(self.card.v_cruise_helper.v_cruise_cluster_kph * CV.KPH_TO_MS)
hudControl.speedVisible = self.enabled
hudControl.lanesVisible = self.enabled
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@ -750,8 +744,8 @@ class Controls:
controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
controlsState.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
controlsState.vCruise = float(self.card.v_cruise_helper.v_cruise_kph)
controlsState.vCruiseCluster = float(self.card.v_cruise_helper.v_cruise_cluster_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f)

14
selfdrive/controls/lib/events.py
Unescape View File

@ -1,9 +1,9 @@
#!/usr/bin/env python3
import bisect
import math
import os
from enum import IntEnum
from collections.abc import Callable
from sortedcontainers import SortedList
from cereal import log, car
import cereal.messaging as messaging
@ -49,12 +49,12 @@ EVENT_NAME = {v: k for k, v in EventName.schema.enumerants.items()}
class Events:
def __init__(self):
self.events: SortedList[int] = SortedList()
self.static_events: SortedList[int] = SortedList()
self.events: list[int] = []
self.static_events: list[int] = []
self.events_prev = dict.fromkeys(EVENTS.keys(), 0)
@property
def names(self) -> SortedList[int]:
def names(self) -> list[int]:
return self.events
def __len__(self) -> int:
@ -62,8 +62,8 @@ class Events:
def add(self, event_name: int, static: bool=False) -> None:
if static:
self.static_events.add(event_name)
self.events.add(event_name)
bisect.insort(self.static_events, event_name)
bisect.insort(self.events, event_name)
def clear(self) -> None:
self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
@ -93,7 +93,7 @@ class Events:
def add_from_msg(self, events):
for e in events:
self.events.add(e.name.raw)
bisect.insort(self.events, e.name.raw)
def to_msg(self):
ret = []

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