#!/usr/bin/env python3 from cereal import car from selfdrive.config import Conversions as CV from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint from selfdrive.car.interfaces import CarInterfaceBase GearShifter = car.CarState.GearShifter ButtonType = car.CarState.ButtonEvent.Type class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController): self.CP = CP self.VM = VehicleModel(CP) self.gas_pressed_prev = False self.brake_pressed_prev = False self.cruise_enabled_prev = False self.low_speed_alert = False # *** init the major players *** self.CS = CarState(CP) self.cp = get_can_parser(CP) self.cp_cam = get_camera_parser(CP) self.CC = None if CarController is not None: self.CC = CarController(self.cp.dbc_name, CP.carFingerprint, CP.enableCamera) @staticmethod def compute_gb(accel, speed): return float(accel) / 3.0 @staticmethod def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): ret = car.CarParams.new_message() ret.carName = "chrysler" ret.carFingerprint = candidate ret.isPandaBlack = has_relay ret.safetyModel = car.CarParams.SafetyModel.chrysler # pedal ret.enableCruise = True # Speed conversion: 20, 45 mph ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017 ret.steerRatio = 16.2 # Pacifica Hybrid 2017 ret.mass = 2858. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017 ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15,0.30], [0.03,0.05]] ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 ret.steerRateCost = 0.7 ret.steerLimitTimer = 0.4 if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019): ret.wheelbase = 2.91 # in meters ret.steerRatio = 12.7 ret.steerActuatorDelay = 0.2 # in seconds ret.centerToFront = ret.wheelbase * 0.44 ret.minSteerSpeed = 3.8 # m/s ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020_HYBRID, CAR.JEEP_CHEROKEE_2019): ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged. # TODO allow 2019 cars to steer down to 13 m/s if already engaged. # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase) # TODO: start from empirically derived lateral slip stiffness for the civic and scale by # mass and CG position, so all cars will have approximately similar dyn behaviors ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. # steer, gas, brake limitations VS speed ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph ret.gasMaxBP = [0.] ret.gasMaxV = [0.5] ret.brakeMaxBP = [5., 20.] ret.brakeMaxV = [1., 0.8] ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay print("ECU Camera Simulated: {0}".format(ret.enableCamera)) ret.openpilotLongitudinalControl = False ret.stoppingControl = False ret.startAccel = 0.0 ret.longitudinalTuning.deadzoneBP = [0., 9.] ret.longitudinalTuning.deadzoneV = [0., .15] ret.longitudinalTuning.kpBP = [0., 5., 35.] ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5] ret.longitudinalTuning.kiBP = [0., 35.] ret.longitudinalTuning.kiV = [0.54, 0.36] return ret # returns a car.CarState def update(self, c, can_strings): # ******************* do can recv ******************* self.cp.update_strings(can_strings) self.cp_cam.update_strings(can_strings) self.CS.update(self.cp, self.cp_cam) # create message ret = car.CarState.new_message() ret.canValid = self.cp.can_valid and self.cp_cam.can_valid # speeds ret.vEgo = self.CS.v_ego ret.vEgoRaw = self.CS.v_ego_raw ret.aEgo = self.CS.a_ego ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego) ret.standstill = self.CS.standstill ret.wheelSpeeds.fl = self.CS.v_wheel_fl ret.wheelSpeeds.fr = self.CS.v_wheel_fr ret.wheelSpeeds.rl = self.CS.v_wheel_rl ret.wheelSpeeds.rr = self.CS.v_wheel_rr # gear shifter ret.gearShifter = self.CS.gear_shifter # gas pedal ret.gas = self.CS.car_gas ret.gasPressed = self.CS.pedal_gas > 0 # brake pedal ret.brake = self.CS.user_brake ret.brakePressed = self.CS.brake_pressed ret.brakeLights = self.CS.brake_lights # steering wheel ret.steeringAngle = self.CS.angle_steers ret.steeringRate = self.CS.angle_steers_rate ret.steeringTorque = self.CS.steer_torque_driver ret.steeringPressed = self.CS.steer_override ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False # cruise state ret.cruiseState.enabled = self.CS.pcm_acc_status # same as main_on ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS ret.cruiseState.available = self.CS.main_on ret.cruiseState.speedOffset = 0. ret.cruiseState.standstill = False # TODO: button presses buttonEvents = [] if self.CS.left_blinker_on != self.CS.prev_left_blinker_on: be = car.CarState.ButtonEvent.new_message() be.type = ButtonType.leftBlinker be.pressed = self.CS.left_blinker_on != 0 buttonEvents.append(be) if self.CS.right_blinker_on != self.CS.prev_right_blinker_on: be = car.CarState.ButtonEvent.new_message() be.type = ButtonType.rightBlinker be.pressed = self.CS.right_blinker_on != 0 buttonEvents.append(be) ret.buttonEvents = buttonEvents ret.leftBlinker = bool(self.CS.left_blinker_on) ret.rightBlinker = bool(self.CS.right_blinker_on) ret.doorOpen = not self.CS.door_all_closed ret.seatbeltUnlatched = not self.CS.seatbelt self.low_speed_alert = (ret.vEgo < self.CP.minSteerSpeed) ret.genericToggle = self.CS.generic_toggle #ret.lkasCounter = self.CS.lkas_counter #ret.lkasCarModel = self.CS.lkas_car_model # events events = [] if not (ret.gearShifter in (GearShifter.drive, GearShifter.low)): events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if ret.doorOpen: events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if ret.seatbeltUnlatched: events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if self.CS.esp_disabled: events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE])) if not self.CS.main_on: events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE])) if ret.gearShifter == GearShifter.reverse: events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) if self.CS.steer_error: events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) if ret.cruiseState.enabled and not self.cruise_enabled_prev: events.append(create_event('pcmEnable', [ET.ENABLE])) elif not ret.cruiseState.enabled: events.append(create_event('pcmDisable', [ET.USER_DISABLE])) # disable on gas pedal and speed isn't zero. Gas pedal is used to resume ACC # from a 3+ second stop. if (ret.gasPressed and (not self.gas_pressed_prev) and ret.vEgo > 2.0): events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE])) if self.low_speed_alert: events.append(create_event('belowSteerSpeed', [ET.WARNING])) ret.events = events self.gas_pressed_prev = ret.gasPressed self.brake_pressed_prev = ret.brakePressed self.cruise_enabled_prev = ret.cruiseState.enabled return ret.as_reader() # pass in a car.CarControl # to be called @ 100hz def apply(self, c): if (self.CS.frame == -1): return [] # if we haven't seen a frame 220, then do not update. can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert) return can_sends