#!/usr/bin/env python3 import os import time import threading import cereal.messaging as messaging from cereal import car, log from msgq.visionipc import VisionIpcClient, VisionStreamType from opendbc.safety import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog from openpilot.common.gps import get_gps_location_service from openpilot.selfdrive.car.car_specific import CarSpecificEvents from openpilot.selfdrive.selfdrived.events import Events, ET from openpilot.selfdrive.selfdrived.state import StateMachine from openpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.latcontrol import MIN_LATERAL_CONTROL_SPEED from openpilot.system.version import get_build_metadata REPLAY = "REPLAY" in os.environ SIMULATION = "SIMULATION" in os.environ TESTING_CLOSET = "TESTING_CLOSET" in os.environ IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"} LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()} ThermalStatus = log.DeviceState.ThermalStatus State = log.SelfdriveState.OpenpilotState PandaType = log.PandaState.PandaType LaneChangeState = log.LaneChangeState LaneChangeDirection = log.LaneChangeDirection EventName = log.OnroadEvent.EventName ButtonType = car.CarState.ButtonEvent.Type SafetyModel = car.CarParams.SafetyModel IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput) class SelfdriveD: def __init__(self, CP=None): self.params = Params() # Ensure the current branch is cached, otherwise the first cycle lags build_metadata = get_build_metadata() if CP is None: cloudlog.info("selfdrived is waiting for CarParams") self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams) cloudlog.info("selfdrived got CarParams") else: self.CP = CP self.car_events = CarSpecificEvents(self.CP) self.disengage_on_accelerator = not (self.CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS) # Setup sockets self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents']) self.gps_location_service = get_gps_location_service(self.params) self.gps_packets = [self.gps_location_service] self.sensor_packets = ["accelerometer", "gyroscope"] self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"] # TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches self.car_state_sock = messaging.sub_sock('carState', timeout=20) ignore = self.sensor_packets + self.gps_packets + ['alertDebug'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] if REPLAY: # no vipc in replay will make them ignored anyways ignore += ['roadCameraState', 'wideRoadCameraState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'controlsState', 'carControl', 'driverAssistance', 'alertDebug'] + \ self.camera_packets + self.sensor_packets + self.gps_packets, ignore_alive=ignore, ignore_avg_freq=ignore+['radarState',], ignore_valid=ignore, frequency=int(1/DT_CTRL)) # read params self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") car_recognized = self.CP.brand != 'mock' # cleanup old params if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") if not self.CP.openpilotLongitudinalControl: self.params.remove("ExperimentalMode") self.CS_prev = car.CarState.new_message() self.AM = AlertManager() self.events = Events() self.initialized = False self.enabled = False self.active = False self.mismatch_counter = 0 self.cruise_mismatch_counter = 0 self.last_steering_pressed_frame = 0 self.distance_traveled = 0 self.last_functional_fan_frame = 0 self.events_prev = [] self.logged_comm_issue = None self.not_running_prev = None self.experimental_mode = False self.personality = self.read_personality_param() self.recalibrating_seen = False self.state_machine = StateMachine() self.rk = Ratekeeper(100, print_delay_threshold=None) # Determine startup event self.startup_event = EventName.startup if build_metadata.openpilot.comma_remote and build_metadata.tested_channel else EventName.startupMaster if not car_recognized: self.startup_event = EventName.startupNoCar elif car_recognized and self.CP.passive: self.startup_event = EventName.startupNoControl elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable: self.startup_event = EventName.startupNoSecOcKey if not car_recognized: self.events.add(EventName.carUnrecognized, static=True) set_offroad_alert("Offroad_CarUnrecognized", True) elif self.CP.passive: self.events.add(EventName.dashcamMode, static=True) def update_events(self, CS): """Compute onroadEvents from carState""" self.events.clear() if self.sm['controlsState'].lateralControlState.which() == 'debugState': self.events.add(EventName.joystickDebug) self.startup_event = None if self.sm.recv_frame['alertDebug'] > 0: self.events.add(EventName.longitudinalManeuver) self.startup_event = None # Add startup event if self.startup_event is not None: self.events.add(self.startup_event) self.startup_event = None # Don't add any more events if not initialized if not self.initialized: self.events.add(EventName.selfdriveInitializing) return # no more events while in dashcam mode 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 CS.vCruise > 250 and resume_pressed: self.events.add(EventName.resumeBlocked) if not self.CP.notCar: self.events.add_from_msg(self.sm['driverMonitoringState'].events) # Add car events, ignore if CAN isn't valid if CS.canValid: car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg() self.events.add_from_msg(car_events) if self.CP.notCar: # wait for everything to init first if self.sm.frame > int(5. / DT_CTRL) and self.initialized: # body always wants to enable self.events.add(EventName.pcmEnable) # 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 \ (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) # Create events for temperature, disk space, and memory if self.sm['deviceState'].thermalStatus >= ThermalStatus.red: self.events.add(EventName.overheat) if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION: self.events.add(EventName.outOfSpace) if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION: self.events.add(EventName.lowMemory) # Alert if fan isn't spinning for 5 seconds if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown: if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50: # allow enough time for the fan controller in the panda to recover from stalls if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0: self.events.add(EventName.fanMalfunction) else: self.last_functional_fan_frame = self.sm.frame # Handle calibration status cal_status = self.sm['liveCalibration'].calStatus if cal_status != log.LiveCalibrationData.Status.calibrated: if cal_status == log.LiveCalibrationData.Status.uncalibrated: self.events.add(EventName.calibrationIncomplete) elif cal_status == log.LiveCalibrationData.Status.recalibrating: if not self.recalibrating_seen: set_offroad_alert("Offroad_Recalibration", True) self.recalibrating_seen = True self.events.add(EventName.calibrationRecalibrating) else: self.events.add(EventName.calibrationInvalid) # Lane departure warning if self.is_ldw_enabled and self.sm.valid['driverAssistance']: if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture: self.events.add(EventName.ldw) # Handle lane change if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange: direction = self.sm['modelV2'].meta.laneChangeDirection if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \ (CS.rightBlindspot and direction == LaneChangeDirection.right): self.events.add(EventName.laneChangeBlocked) else: if direction == LaneChangeDirection.left: self.events.add(EventName.preLaneChangeLeft) else: self.events.add(EventName.preLaneChangeRight) elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting, LaneChangeState.laneChangeFinishing): self.events.add(EventName.laneChange) for i, pandaState in enumerate(self.sm['pandaStates']): # All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput if i < len(self.CP.safetyConfigs): safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \ pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \ pandaState.alternativeExperience != self.CP.alternativeExperience else: safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES # safety mismatch allows some time for pandad to set the safety mode and publish it back from panda if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or pandaState.safetyRxChecksInvalid or self.mismatch_counter >= 200: self.events.add(EventName.controlsMismatch) if log.PandaState.FaultType.relayMalfunction in pandaState.faults: self.events.add(EventName.relayMalfunction) # Handle HW and system malfunctions # Order is very intentional here. Be careful when modifying this. # All events here should at least have NO_ENTRY and SOFT_DISABLE. num_events = len(self.events) not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning} if self.sm.recv_frame['managerState'] and len(not_running): if not_running != self.not_running_prev: cloudlog.event("process_not_running", not_running=not_running, error=True) self.not_running_prev = not_running if self.sm.recv_frame['managerState'] and (not_running - IGNORE_PROCESSES): self.events.add(EventName.processNotRunning) else: if not SIMULATION and not self.rk.lagging: if not self.sm.all_alive(self.camera_packets): self.events.add(EventName.cameraMalfunction) elif not self.sm.all_freq_ok(self.camera_packets): self.events.add(EventName.cameraFrameRate) if not REPLAY and self.rk.lagging: self.events.add(EventName.selfdrivedLagging) if len(self.sm['radarState'].radarErrors) or ((not self.rk.lagging or REPLAY) and not self.sm.all_checks(['radarState'])): self.events.add(EventName.radarFault) if not self.sm.valid['pandaStates']: self.events.add(EventName.usbError) if CS.canTimeout: self.events.add(EventName.canBusMissing) elif not CS.canValid: self.events.add(EventName.canError) # generic catch-all. ideally, a more specific event should be added above instead has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE)) no_system_errors = (not has_disable_events) or (len(self.events) == num_events) if not self.sm.all_checks() and no_system_errors: if not self.sm.all_alive(): self.events.add(EventName.commIssue) elif not self.sm.all_freq_ok(): self.events.add(EventName.commIssueAvgFreq) else: self.events.add(EventName.commIssue) logs = { 'invalid': [s for s, valid in self.sm.valid.items() if not valid], 'not_alive': [s for s, alive in self.sm.alive.items() if not alive], 'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], } if logs != self.logged_comm_issue: cloudlog.event("commIssue", error=True, **logs) self.logged_comm_issue = logs else: self.logged_comm_issue = None if not self.CP.notCar: if not self.sm['livePose'].posenetOK: self.events.add(EventName.posenetInvalid) if not self.sm['livePose'].inputsOK: self.events.add(EventName.locationdTemporaryError) if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY): self.events.add(EventName.paramsdTemporaryError) # conservative HW alert. if the data or frequency are off, locationd will throw an error if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets): self.events.add(EventName.sensorDataInvalid) if not REPLAY: # Check for mismatch between openpilot and car's PCM cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise) self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0 if self.cruise_mismatch_counter > int(6. / DT_CTRL): self.events.add(EventName.cruiseMismatch) # Send a "steering required alert" if saturation count has reached the limit if CS.steeringPressed: self.last_steering_pressed_frame = self.sm.frame recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0 controlstate = self.sm['controlsState'] lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which()) if lac.active and not recent_steer_pressed and not self.CP.notCar: clipped_speed = max(CS.vEgo, MIN_LATERAL_CONTROL_SPEED) actual_lateral_accel = controlstate.curvature * (clipped_speed**2) desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2) undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2 turning = abs(desired_lateral_accel) > 1.0 # TODO: lac.saturated includes speed and other checks, should be pulled out if undershooting and turning and lac.saturated: self.events.add(EventName.steerSaturated) # Check for FCW stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25 model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled if (planner_fcw or model_fcw) and not self.CP.notCar: self.events.add(EventName.fcw) # TODO: fix simulator if not SIMULATION or REPLAY: # Not show in first 1.5 km to allow for driving out of garage. This event shows after 5 minutes gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0 if not gps_ok and self.sm['livePose'].inputsOK and (self.distance_traveled > 1500): self.events.add(EventName.noGps) if gps_ok: self.distance_traveled = 0 self.distance_traveled += abs(CS.vEgo) * DT_CTRL if self.sm['modelV2'].frameDropPerc > 20: self.events.add(EventName.modeldLagging) # decrement personality on distance button press if self.CP.openpilotLongitudinalControl: if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents): self.personality = (self.personality - 1) % 3 self.params.put_nonblocking('LongitudinalPersonality', str(self.personality)) self.events.add(EventName.personalityChanged) def data_sample(self): car_state = messaging.recv_one(self.car_state_sock) CS = car_state.carState if car_state else self.CS_prev self.sm.update(0) if not self.initialized: all_valid = CS.canValid and self.sm.all_checks() timed_out = self.sm.frame * DT_CTRL > 6. if all_valid or timed_out or (SIMULATION and not REPLAY): available_streams = VisionIpcClient.available_streams("camerad", block=False) if VisionStreamType.VISION_STREAM_ROAD not in available_streams: self.sm.ignore_alive.append('roadCameraState') self.sm.ignore_valid.append('roadCameraState') if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams: self.sm.ignore_alive.append('wideRoadCameraState') self.sm.ignore_valid.append('wideRoadCameraState') if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']): self.state_machine.state = State.enabled self.initialized = True cloudlog.event( "selfdrived.initialized", dt=self.sm.frame*DT_CTRL, timeout=timed_out, canValid=CS.canValid, invalid=[s for s, valid in self.sm.valid.items() if not valid], not_alive=[s for s, alive in self.sm.alive.items() if not alive], not_freq_ok=[s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok], error=True, ) # When the panda and selfdrived do not agree on controls_allowed # we want to disengage openpilot. However the status from the panda goes through # another socket other than the CAN messages and one can arrive earlier than the other. # Therefore we allow a mismatch for two samples, then we trigger the disengagement. if not self.enabled: self.mismatch_counter = 0 # All pandas not in silent mode must have controlsAllowed when openpilot is enabled if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates'] if ps.safetyModel not in IGNORED_SAFETY_MODES): self.mismatch_counter += 1 return CS def update_alerts(self, CS): clear_event_types = set() if ET.WARNING not in self.state_machine.current_alert_types: clear_event_types.add(ET.WARNING) if self.enabled: clear_event_types.add(ET.NO_ENTRY) pers = LONGITUDINAL_PERSONALITY_MAP[self.personality] alerts = self.events.create_alerts(self.state_machine.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.state_machine.soft_disable_timer, pers]) self.AM.add_many(self.sm.frame, alerts) self.AM.process_alerts(self.sm.frame, clear_event_types) def publish_selfdriveState(self, CS): # selfdriveState ss_msg = messaging.new_message('selfdriveState') ss_msg.valid = True ss = ss_msg.selfdriveState ss.enabled = self.enabled ss.active = self.active ss.state = self.state_machine.state ss.engageable = not self.events.contains(ET.NO_ENTRY) ss.experimentalMode = self.experimental_mode ss.personality = self.personality ss.alertText1 = self.AM.current_alert.alert_text_1 ss.alertText2 = self.AM.current_alert.alert_text_2 ss.alertSize = self.AM.current_alert.alert_size ss.alertStatus = self.AM.current_alert.alert_status ss.alertType = self.AM.current_alert.alert_type ss.alertSound = self.AM.current_alert.audible_alert ss.alertHudVisual = self.AM.current_alert.visual_alert self.pm.send('selfdriveState', ss_msg) # 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 = self.events.to_msg() self.pm.send('onroadEvents', ce_send) self.events_prev = self.events.names.copy() def step(self): CS = self.data_sample() self.update_events(CS) if not self.CP.passive and self.initialized: self.enabled, self.active = self.state_machine.update(self.events) self.update_alerts(CS) self.publish_selfdriveState(CS) self.CS_prev = CS def read_personality_param(self): try: return int(self.params.get('LongitudinalPersonality')) except (ValueError, TypeError): return log.LongitudinalPersonality.standard def params_thread(self, evt): while not evt.is_set(): self.is_metric = self.params.get_bool("IsMetric") self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl self.personality = self.read_personality_param() time.sleep(0.1) def run(self): e = threading.Event() t = threading.Thread(target=self.params_thread, args=(e, )) try: t.start() while True: self.step() self.rk.monitor_time() finally: e.set() t.join() def main(): config_realtime_process(4, Priority.CTRL_HIGH) s = SelfdriveD() s.run() if __name__ == "__main__": main()