import os from common.fingerprints import TOYOTA as CAR from selfdrive.can.parser import CANParser from selfdrive.config import Conversions as CV from common.kalman.simple_kalman import KF1D import numpy as np def parse_gear_shifter(can_gear, car_fingerprint): # TODO: Use values from DBC to parse this field if car_fingerprint == CAR.PRIUS: if can_gear == 0x0: return "park" elif can_gear == 0x1: return "reverse" elif can_gear == 0x2: return "neutral" elif can_gear == 0x3: return "drive" elif can_gear == 0x4: return "brake" elif car_fingerprint in [CAR.RAV4, CAR.RAV4H, CAR.LEXUS_RXH, CAR.COROLLA]: if can_gear == 0x20: return "park" elif can_gear == 0x10: return "reverse" elif can_gear == 0x8: return "neutral" elif can_gear == 0x0: return "drive" elif can_gear == 0x1: return "sport" return "unknown" def get_can_parser(CP): # this function generates lists for signal, messages and initial values if CP.carFingerprint == CAR.PRIUS: dbc_f = 'toyota_prius_2017_pt_generated.dbc' elif CP.carFingerprint == CAR.RAV4H: dbc_f = 'toyota_rav4_hybrid_2017_pt_generated.dbc' elif CP.carFingerprint == CAR.RAV4: dbc_f = 'toyota_rav4_2017_pt_generated.dbc' elif CP.carFingerprint == CAR.COROLLA: dbc_f = 'toyota_corolla_2017_pt_generated.dbc' elif CP.carFingerprint == CAR.LEXUS_RXH: dbc_f = 'lexus_rx_hybrid_2017_pt_generated.dbc' signals = [ # sig_name, sig_address, default ("GEAR", "GEAR_PACKET", 0), ("BRAKE_PRESSED", "BRAKE_MODULE", 0), ("GAS_PEDAL", "GAS_PEDAL", 0), ("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0), ("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0), ("DOOR_OPEN_FL", "SEATS_DOORS", 1), ("DOOR_OPEN_FR", "SEATS_DOORS", 1), ("DOOR_OPEN_RL", "SEATS_DOORS", 1), ("DOOR_OPEN_RR", "SEATS_DOORS", 1), ("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1), ("TC_DISABLED", "ESP_CONTROL", 1), ("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0), ("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0), ("STEER_RATE", "STEER_ANGLE_SENSOR", 0), ("GAS_RELEASED", "PCM_CRUISE", 0), ("CRUISE_STATE", "PCM_CRUISE", 0), ("MAIN_ON", "PCM_CRUISE_2", 0), ("SET_SPEED", "PCM_CRUISE_2", 0), ("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0), ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0), ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0), ("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers ("LKA_STATE", "EPS_STATUS", 0), ("IPAS_STATE", "EPS_STATUS", 1), ("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0), ("AUTO_HIGH_BEAM", "LIGHT_STALK", 0), ] checks = [ ("BRAKE_MODULE", 40), ("GAS_PEDAL", 33), ("WHEEL_SPEEDS", 80), ("STEER_ANGLE_SENSOR", 80), ("PCM_CRUISE", 33), ("PCM_CRUISE_2", 33), ("STEER_TORQUE_SENSOR", 50), ("EPS_STATUS", 25), ] return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 0) class CarState(object): def __init__(self, CP): self.CP = CP self.left_blinker_on = 0 self.right_blinker_on = 0 # initialize can parser self.car_fingerprint = CP.carFingerprint # vEgo kalman filter dt = 0.01 # Q = np.matrix([[10.0, 0.0], [0.0, 100.0]]) # R = 1e3 self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]), A=np.matrix([[1.0, dt], [0.0, 1.0]]), C=np.matrix([1.0, 0.0]), K=np.matrix([[0.12287673], [0.29666309]])) self.v_ego = 0.0 def update(self, cp): # copy can_valid self.can_valid = cp.can_valid # update prevs, update must run once per loop self.prev_left_blinker_on = self.left_blinker_on self.prev_right_blinker_on = self.right_blinker_on self.door_all_closed = not any([cp.vl["SEATS_DOORS"]['DOOR_OPEN_FL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_FR'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RL'], cp.vl["SEATS_DOORS"]['DOOR_OPEN_RR']]) self.seatbelt = not cp.vl["SEATS_DOORS"]['SEATBELT_DRIVER_UNLATCHED'] can_gear = cp.vl["GEAR_PACKET"]['GEAR'] self.brake_pressed = cp.vl["BRAKE_MODULE"]['BRAKE_PRESSED'] self.pedal_gas = cp.vl["GAS_PEDAL"]['GAS_PEDAL'] self.car_gas = self.pedal_gas self.esp_disabled = cp.vl["ESP_CONTROL"]['TC_DISABLED'] # calc best v_ego estimate, by averaging two opposite corners self.v_wheel_fl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FL'] * CV.KPH_TO_MS self.v_wheel_fr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_FR'] * CV.KPH_TO_MS self.v_wheel_rl = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RL'] * CV.KPH_TO_MS self.v_wheel_rr = cp.vl["WHEEL_SPEEDS"]['WHEEL_SPEED_RR'] * CV.KPH_TO_MS self.v_wheel = (self.v_wheel_fl + self.v_wheel_fr + self.v_wheel_rl + self.v_wheel_rr) / 4. # Kalman filter if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed self.v_ego_x = np.matrix([[self.v_wheel], [0.0]]) self.v_ego_raw = self.v_wheel v_ego_x = self.v_ego_kf.update(self.v_wheel) self.v_ego = float(v_ego_x[0]) self.a_ego = float(v_ego_x[1]) self.standstill = not self.v_wheel > 0.001 self.angle_steers = cp.vl["STEER_ANGLE_SENSOR"]['STEER_ANGLE'] + cp.vl["STEER_ANGLE_SENSOR"]['STEER_FRACTION'] self.angle_steers_rate = cp.vl["STEER_ANGLE_SENSOR"]['STEER_RATE'] self.gear_shifter = parse_gear_shifter(can_gear, self.car_fingerprint) self.main_on = cp.vl["PCM_CRUISE_2"]['MAIN_ON'] self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1 self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2 # we could use the override bit from dbc, but it's triggered at too high torque values self.steer_override = abs(cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER']) > 100 # 2 is standby, 10 is active. TODO: check that everything else is really a faulty state self.steer_state = cp.vl["EPS_STATUS"]['LKA_STATE'] self.steer_error = cp.vl["EPS_STATUS"]['LKA_STATE'] not in [2, 10] self.ipas_state = cp.vl['EPS_STATUS']['IPAS_STATE'] self.brake_error = 0 self.steer_torque_driver = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_DRIVER'] self.steer_torque_motor = cp.vl["STEER_TORQUE_SENSOR"]['STEER_TORQUE_EPS'] self.user_brake = 0 self.v_cruise_pcm = cp.vl["PCM_CRUISE_2"]['SET_SPEED'] self.pcm_acc_status = cp.vl["PCM_CRUISE"]['CRUISE_STATE'] self.gas_pressed = not cp.vl["PCM_CRUISE"]['GAS_RELEASED'] self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]['LOW_SPEED_LOCKOUT'] == 2 self.brake_lights = bool(cp.vl["ESP_CONTROL"]['BRAKE_LIGHTS_ACC'] or self.brake_pressed) self.generic_toggle = bool(cp.vl["LIGHT_STALK"]['AUTO_HIGH_BEAM'])