sadmen
/
openpilot_comma
mirror of https://github.com/commaai/openpilot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

controls: enter overriding state for steering override (#25617)

Browse Source 
* lateral overriding is overriding

* Update test

* remove

* also could do something like this and only have one OVERRIDE ET

* Revert "also could do something like this and only have one OVERRIDE ET"

This reverts commit 5c381641c0.

* full names

* bump cereal

* test every event type

* update refs
old-commit-hash: 992707c172
taco
Shane Smiskol 3 years ago committed by GitHub
parent 2b335169b2
commit c1b9a202aa
6 changed files with 48 additions and 33 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 2
      cereal
  2. 2
      selfdrive/car/interfaces.py
  3. 12
      selfdrive/controls/controlsd.py
  4. 13
      selfdrive/controls/lib/events.py
  5. 18
      selfdrive/controls/tests/test_state_machine.py
  6. 2
      selfdrive/test/process_replay/ref_commit

2
cereal

@ -1 +1 @@
Subproject commit 2335f98bbe628ec6fde92c8d929ecaf373b125af
Subproject commit f363cc13c67d286f87606f35f91952927d1c2d4d

2
selfdrive/car/interfaces.py
Unescape View File

@ -215,6 +215,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
if cs_out.steeringPressed:
events.add(EventName.steerOverride)
# Handle button presses
events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))

12
selfdrive/controls/controlsd.py
Unescape View File

@ -508,9 +508,9 @@ class Controls:
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.events.any(ET.OVERRIDE):
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
self.state = State.overriding
self.current_alert_types.append(ET.OVERRIDE)
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
# SOFT DISABLING
elif self.state == State.softDisabling:
@ -540,10 +540,10 @@ class Controls:
self.state = State.softDisabling
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif not self.events.any(ET.OVERRIDE):
elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
self.state = State.enabled
else:
self.current_alert_types.append(ET.OVERRIDE)
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
# DISABLED
elif self.state == State.disabled:
@ -554,7 +554,7 @@ class Controls:
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
elif self.events.any(ET.OVERRIDE):
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
self.state = State.overriding
else:
self.state = State.enabled
@ -586,7 +586,7 @@ class Controls:
# Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state

13
selfdrive/controls/lib/events.py
Unescape View File

@ -31,7 +31,8 @@ class Priority(IntEnum):
class ET:
ENABLE = 'enable'
PRE_ENABLE = 'preEnable'
OVERRIDE = 'override'
OVERRIDE_LATERAL = 'overrideLateral'
OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
NO_ENTRY = 'noEntry'
WARNING = 'warning'
USER_DISABLE = 'userDisable'
@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.gasPressedOverride: {
ET.OVERRIDE: Alert(
ET.OVERRIDE_LONGITUDINAL: Alert(
"",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.steerOverride: {
ET.OVERRIDE_LATERAL: Alert(
"",
"",
AlertStatus.normal, AlertSize.none,

18
selfdrive/controls/tests/test_state_machine.py
Unescape View File

@ -11,11 +11,11 @@ from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize
State = log.ControlsState.OpenpilotState
# The event types that maintain the current state
MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
ALL_STATES = tuple(State.schema.enumerants.values())
# The event types checked in DISABLED section of state machine
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
def make_event(event_types):
@ -41,7 +41,8 @@ class TestStateMachine(unittest.TestCase):
def test_immediate_disable(self):
for state in ALL_STATES:
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.IMMEDIATE_DISABLE]))
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
@ -49,7 +50,8 @@ class TestStateMachine(unittest.TestCase):
def test_user_disable(self):
for state in ALL_STATES:
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.USER_DISABLE]))
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
@ -59,7 +61,8 @@ class TestStateMachine(unittest.TestCase):
for state in ALL_STATES:
if state == State.preEnabled: # preEnabled considers NO_ENTRY instead
continue
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.SOFT_DISABLE]))
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
@ -93,8 +96,9 @@ class TestStateMachine(unittest.TestCase):
def test_maintain_states(self):
# Given current state's event type, we should maintain state
for state in ALL_STATES:
for et in MAINTAIN_STATES[state]:
self.controlsd.state = state
self.controlsd.events.add(make_event([MAINTAIN_STATES[state]]))
self.controlsd.events.add(make_event([et]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, state)
self.controlsd.events.clear()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
48db2dee177706285226d1287912e191f1699865
260bd1a7240221e75a20d547f68e8d1217f9f29e
Write Preview
Loading…
Cancel
Save