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controlsd: add cruise speed helper class (#26472)

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* fix runaway set speed for GM

* fix runaway set speed for GM

* Handle resuming to exit standstill generically

* clean that up

* ugh i want to fix all the formatting

* class that manages v_cruise

* better name

* move around

* add depressed_state

* fine to update on pressed change, better name

* revert gm stuff

* revert standstill stuff

* remove

* revert that

* we can put this in here now!

* below update

* actually only used here

* one line
old-commit-hash: 811c096e64
taco
Shane Smiskol 2 years ago committed by GitHub
parent 054cb1f8c1
commit a7828e1ae3
2 changed files with 102 additions and 91 deletions
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  1. 52
      selfdrive/controls/controlsd.py
  2. 141
      selfdrive/controls/lib/drive_helpers.py

52
selfdrive/controls/controlsd.py
Unescape View File

@ -16,8 +16,7 @@ from system.version import is_tested_branch, get_short_branch
from selfdrive.boardd.boardd import can_list_to_can_capnp
from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
from selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
from selfdrive.controls.lib.drive_helpers import V_CRUISE_INITIAL, update_v_cruise, initialize_v_cruise
from selfdrive.controls.lib.drive_helpers import get_lag_adjusted_curvature
from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
from selfdrive.controls.lib.latcontrol import LatControl
from selfdrive.controls.lib.longcontrol import LongControl
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
@ -49,7 +48,6 @@ Desire = log.LateralPlan.Desire
LaneChangeState = log.LateralPlan.LaneChangeState
LaneChangeDirection = log.LateralPlan.LaneChangeDirection
EventName = car.CarEvent.EventName
ButtonEvent = car.CarState.ButtonEvent
ButtonType = car.CarState.ButtonEvent.Type
SafetyModel = car.CarParams.SafetyModel
@ -173,9 +171,6 @@ class Controls:
self.active = False
self.can_rcv_timeout = False
self.soft_disable_timer = 0
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.cruise_mismatch_counter = 0
self.can_rcv_timeout_counter = 0
@ -185,11 +180,11 @@ class Controls:
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message()
self.steer_limited = False
self.desired_curvature = 0.0
self.desired_curvature_rate = 0.0
self.v_cruise_helper = VCruiseHelper(self.CP)
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
@ -219,7 +214,7 @@ class Controls:
controls_state = Params().get("ReplayControlsState")
if controls_state is not None:
controls_state = log.ControlsState.from_bytes(controls_state)
self.v_cruise_kph = controls_state.vCruise
self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
self.state = State.enabled
@ -245,7 +240,7 @@ class Controls:
# 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 self.v_cruise_kph == V_CRUISE_INITIAL and resume_pressed:
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
@ -478,20 +473,7 @@ class Controls:
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
self.button_timers, self.enabled, self.is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
else:
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
self.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
@ -569,9 +551,7 @@ class Controls:
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
if not self.CP.pcmCruise:
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.v_cruise_helper.initialize_v_cruise(CS)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
@ -619,7 +599,7 @@ 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_kph * CV.KPH_TO_MS)
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_helper.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
@ -683,16 +663,6 @@ class Controls:
return CC, lac_log
def update_button_timers(self, buttonEvents):
# increment timer for buttons still pressed
for k in self.button_timers:
if self.button_timers[k] > 0:
self.button_timers[k] += 1
for b in buttonEvents:
if b.type.raw in self.button_timers:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
def publish_logs(self, CS, start_time, CC, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
@ -715,7 +685,7 @@ 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_cluster_kph * CV.KPH_TO_MS)
hudControl.setSpeed = float(self.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
@ -798,8 +768,8 @@ class Controls:
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
controlsState.vCruiseCluster = float(self.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)
@ -880,7 +850,6 @@ class Controls:
self.publish_logs(CS, start_time, CC, lac_log)
self.prof.checkpoint("Sent")
self.update_button_timers(CS.buttonEvents)
self.CS_prev = CS
def controlsd_thread(self):
@ -889,6 +858,7 @@ class Controls:
self.rk.monitor_time()
self.prof.display()
def main(sm=None, pm=None, logcan=None):
controls = Controls(sm, pm, logcan)
controls.controlsd_thread()

141
selfdrive/controls/lib/drive_helpers.py
Unescape View File

@ -22,6 +22,7 @@ CAR_ROTATION_RADIUS = 0.0
# EU guidelines
MAX_LATERAL_JERK = 5.0
ButtonEvent = car.CarState.ButtonEvent
ButtonType = car.CarState.ButtonEvent.Type
CRUISE_LONG_PRESS = 50
CRUISE_NEAREST_FUNC = {
@ -34,6 +35,96 @@ CRUISE_INTERVAL_SIGN = {
}
class VCruiseHelper:
def __init__(self, CP):
self.CP = CP
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
self.v_cruise_kph_last = 0
self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
@property
def v_cruise_initialized(self):
return self.v_cruise_kph != V_CRUISE_INITIAL
def update_v_cruise(self, CS, enabled, is_metric):
self.v_cruise_kph_last = self.v_cruise_kph
if CS.cruiseState.available:
if not self.CP.pcmCruise:
# if stock cruise is completely disabled, then we can use our own set speed logic
self._update_v_cruise_non_pcm(CS, enabled, is_metric)
self.v_cruise_cluster_kph = self.v_cruise_kph
self.update_button_timers(CS)
else:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
else:
self.v_cruise_kph = V_CRUISE_INITIAL
self.v_cruise_cluster_kph = V_CRUISE_INITIAL
def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
if not enabled:
return
long_press = False
button_type = None
# should be CV.MPH_TO_KPH, but this causes rounding errors
v_cruise_delta = 1. if is_metric else 1.6
for b in CS.buttonEvents:
if b.type.raw in self.button_timers and not b.pressed:
if self.button_timers[b.type.raw] > CRUISE_LONG_PRESS:
return # end long press
button_type = b.type.raw
break
else:
for k in self.button_timers.keys():
if self.button_timers[k] and self.button_timers[k] % CRUISE_LONG_PRESS == 0:
button_type = k
long_press = True
break
if button_type:
v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
if long_press and self.v_cruise_kph % v_cruise_delta != 0: # partial interval
self.v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](self.v_cruise_kph / v_cruise_delta) * v_cruise_delta
else:
self.v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if CS.gasPressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
self.v_cruise_kph = max(self.v_cruise_kph, CS.vEgo * CV.MS_TO_KPH)
self.v_cruise_kph = clip(round(self.v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
def update_button_timers(self, CS):
# increment timer for buttons still pressed
for k in self.button_timers:
if self.button_timers[k] > 0:
self.button_timers[k] += 1
for b in CS.buttonEvents:
if b.type.raw in self.button_timers:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
def initialize_v_cruise(self, CS):
# initializing is handled by the PCM
if self.CP.pcmCruise:
return
# 250kph or above probably means we never had a set speed
if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
self.v_cruise_kph = self.v_cruise_kph_last
else:
self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
self.v_cruise_cluster_kph = self.v_cruise_kph
def apply_deadzone(error, deadzone):
if error > deadzone:
error -= deadzone
@ -48,56 +139,6 @@ def rate_limit(new_value, last_value, dw_step, up_step):
return clip(new_value, last_value + dw_step, last_value + up_step)
def update_v_cruise(v_cruise_kph, v_ego, gas_pressed, buttonEvents, button_timers, enabled, metric):
# handle button presses. TODO: this should be in state_control, but a decelCruise press
# would have the effect of both enabling and changing speed is checked after the state transition
if not enabled:
return v_cruise_kph
long_press = False
button_type = None
# should be CV.MPH_TO_KPH, but this causes rounding errors
v_cruise_delta = 1. if metric else 1.6
for b in buttonEvents:
if b.type.raw in button_timers and not b.pressed:
if button_timers[b.type.raw] > CRUISE_LONG_PRESS:
return v_cruise_kph # end long press
button_type = b.type.raw
break
else:
for k in button_timers.keys():
if button_timers[k] and button_timers[k] % CRUISE_LONG_PRESS == 0:
button_type = k
long_press = True
break
if button_type:
v_cruise_delta = v_cruise_delta * (5 if long_press else 1)
if long_press and v_cruise_kph % v_cruise_delta != 0: # partial interval
v_cruise_kph = CRUISE_NEAREST_FUNC[button_type](v_cruise_kph / v_cruise_delta) * v_cruise_delta
else:
v_cruise_kph += v_cruise_delta * CRUISE_INTERVAL_SIGN[button_type]
# If set is pressed while overriding, clip cruise speed to minimum of vEgo
if gas_pressed and button_type in (ButtonType.decelCruise, ButtonType.setCruise):
v_cruise_kph = max(v_cruise_kph, v_ego * CV.MS_TO_KPH)
v_cruise_kph = clip(round(v_cruise_kph, 1), V_CRUISE_MIN, V_CRUISE_MAX)
return v_cruise_kph
def initialize_v_cruise(v_ego, buttonEvents, v_cruise_last):
for b in buttonEvents:
# 250kph or above probably means we never had a set speed
if b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) and v_cruise_last < 250:
return v_cruise_last
return int(round(clip(v_ego * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
if len(psis) != CONTROL_N:
psis = [0.0]*CONTROL_N

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