#!/usr/bin/env python from cereal import car, log from common.realtime import sec_since_boot from selfdrive.config import Conversions as CV from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET from selfdrive.controls.lib.vehicle_model import VehicleModel from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser try: from selfdrive.car.gm.carcontroller import CarController except ImportError: CarController = None class CanBus(object): def __init__(self): self.powertrain = 0 self.obstacle = 1 self.chassis = 2 self.sw_gmlan = 3 class CarInterface(object): def __init__(self, CP, sendcan=None): self.CP = CP self.frame = 0 self.gas_pressed_prev = False self.brake_pressed_prev = False self.can_invalid_count = 0 self.acc_active_prev = 0 # *** init the major players *** canbus = CanBus() self.CS = CarState(CP, canbus) self.VM = VehicleModel(CP) self.pt_cp = get_powertrain_can_parser(CP, canbus) self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis'] # sending if read only is False if sendcan is not None: self.sendcan = sendcan self.CC = CarController(canbus, CP.carFingerprint, CP.enableCamera) @staticmethod def compute_gb(accel, speed): return float(accel) / 4.0 @staticmethod def calc_accel_override(a_ego, a_target, v_ego, v_target): return 1.0 @staticmethod def get_params(candidate, fingerprint): ret = car.CarParams.new_message() ret.carName = "gm" ret.carFingerprint = candidate ret.enableCruise = False # Presence of a camera on the object bus is ok. # Have to go passive if ASCM is online (ACC-enabled cars), # or camera is on powertrain bus (LKA cars without ACC). ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint) ret.openpilotLongitudinalControl = ret.enableCamera std_cargo = 136 if candidate == CAR.VOLT: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS # kg of standard extra cargo to count for driver, gas, etc... ret.mass = 1607 + std_cargo ret.safetyModel = car.CarParams.SafetyModels.gm ret.wheelbase = 2.69 ret.steerRatio = 15.7 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.MALIBU: # supports stop and go, but initial engage must be above 18mph (which include conservatism) ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1496 + std_cargo ret.safetyModel = car.CarParams.SafetyModels.gm ret.wheelbase = 2.83 ret.steerRatio = 15.8 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 # wild guess elif candidate == CAR.HOLDEN_ASTRA: # kg of standard extra cargo to count for driver, gas, etc... ret.mass = 1363 + std_cargo ret.wheelbase = 2.662 # Remaining parameters copied from Volt for now ret.centerToFront = ret.wheelbase * 0.4 ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.safetyModel = car.CarParams.SafetyModels.gm ret.steerRatio = 15.7 ret.steerRatioRear = 0. elif candidate == CAR.ACADIA: ret.minEnableSpeed = -1 # engage speed is decided by pcm ret.mass = 4353. * CV.LB_TO_KG + std_cargo ret.safetyModel = car.CarParams.SafetyModels.gm ret.wheelbase = 2.86 ret.steerRatio = 14.4 #end to end is 13.46 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.4 elif candidate == CAR.CADILLAC_ATS: ret.minEnableSpeed = 18 * CV.MPH_TO_MS ret.mass = 1601 + std_cargo ret.safetyModel = car.CarParams.SafetyModels.gm ret.wheelbase = 2.78 ret.steerRatio = 15.3 ret.steerRatioRear = 0. ret.centerToFront = ret.wheelbase * 0.49 elif candidate == CAR.CADILLAC_CT6: # engage speed is decided by pcm ret.minEnableSpeed = -1 # kg of standard extra cargo to count for driver, gas, etc... ret.mass = 4016. * CV.LB_TO_KG + std_cargo ret.safetyModel = car.CarParams.SafetyModels.cadillac ret.wheelbase = 3.11 ret.steerRatio = 14.6 # it's 16.3 without rear active steering ret.steerRatioRear = 0. # TODO: there is RAS on this car! ret.centerToFront = ret.wheelbase * 0.465 # hardcoding honda civic 2016 touring params so they can be used to # scale unknown params for other cars mass_civic = 2923. * CV.LB_TO_KG + std_cargo wheelbase_civic = 2.70 centerToFront_civic = wheelbase_civic * 0.4 centerToRear_civic = wheelbase_civic - centerToFront_civic rotationalInertia_civic = 2500 tireStiffnessFront_civic = 85400 tireStiffnessRear_civic = 90000 centerToRear = ret.wheelbase - ret.centerToFront # TODO: get actual value, for now starting with reasonable value for # civic and scaling by mass and wheelbase ret.rotationalInertia = rotationalInertia_civic * \ ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2) # 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 = tireStiffnessFront_civic * \ ret.mass / mass_civic * \ (centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic) ret.tireStiffnessRear = tireStiffnessRear_civic * \ ret.mass / mass_civic * \ (ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic) # same tuning for Volt and CT6 for now ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] ret.steerKpV, ret.steerKiV = [[0.2], [0.00]] ret.steerKf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerMaxBP = [0.] # m/s ret.steerMaxV = [1.] ret.gasMaxBP = [0.] ret.gasMaxV = [.5] ret.brakeMaxBP = [0.] ret.brakeMaxV = [1.] ret.longPidDeadzoneBP = [0.] ret.longPidDeadzoneV = [0.] ret.longitudinalKpBP = [5., 35.] ret.longitudinalKpV = [2.4, 1.5] ret.longitudinalKiBP = [0.] ret.longitudinalKiV = [0.36] ret.steerLimitAlert = True ret.stoppingControl = True ret.startAccel = 0.8 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerRateCost = 1.0 ret.steerControlType = car.CarParams.SteerControlType.torque return ret # returns a car.CarState def update(self, c): self.pt_cp.update(int(sec_since_boot() * 1e9), False) self.CS.update(self.pt_cp) # create message ret = car.CarState.new_message() # speeds ret.vEgo = self.CS.v_ego ret.aEgo = self.CS.a_ego ret.vEgoRaw = self.CS.v_ego_raw 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 # gas pedal information. ret.gas = self.CS.pedal_gas / 254.0 ret.gasPressed = self.CS.user_gas_pressed # brake pedal ret.brake = self.CS.user_brake / 0xd0 ret.brakePressed = self.CS.brake_pressed # steering wheel ret.steeringAngle = self.CS.angle_steers ret.steeringRate = self.CS.angle_steers_rate # torque and user override. Driver awareness # timer resets when the user uses the steering wheel. ret.steeringPressed = self.CS.steer_override ret.steeringTorque = self.CS.steer_torque_driver # cruise state ret.cruiseState.available = bool(self.CS.main_on) cruiseEnabled = self.CS.pcm_acc_status != 0 ret.cruiseState.enabled = cruiseEnabled ret.cruiseState.standstill = self.CS.pcm_acc_status == 4 ret.leftBlinker = self.CS.left_blinker_on ret.rightBlinker = self.CS.right_blinker_on ret.doorOpen = not self.CS.door_all_closed ret.seatbeltUnlatched = not self.CS.seatbelt ret.gearShifter = self.CS.gear_shifter buttonEvents = [] # blinkers if self.CS.left_blinker_on != self.CS.prev_left_blinker_on: be = car.CarState.ButtonEvent.new_message() be.type = 'leftBlinker' be.pressed = self.CS.left_blinker_on buttonEvents.append(be) if self.CS.right_blinker_on != self.CS.prev_right_blinker_on: be = car.CarState.ButtonEvent.new_message() be.type = 'rightBlinker' be.pressed = self.CS.right_blinker_on buttonEvents.append(be) if self.CS.cruise_buttons != self.CS.prev_cruise_buttons: be = car.CarState.ButtonEvent.new_message() be.type = 'unknown' if self.CS.cruise_buttons != CruiseButtons.UNPRESS: be.pressed = True but = self.CS.cruise_buttons else: be.pressed = False but = self.CS.prev_cruise_buttons if but == CruiseButtons.RES_ACCEL: if not (cruiseEnabled and self.CS.standstill): be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed. elif but == CruiseButtons.DECEL_SET: be.type = 'decelCruise' elif but == CruiseButtons.CANCEL: be.type = 'cancel' elif but == CruiseButtons.MAIN: be.type = 'altButton3' buttonEvents.append(be) ret.buttonEvents = buttonEvents events = [] if not self.CS.can_valid: self.can_invalid_count += 1 if self.can_invalid_count >= 5: events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) else: self.can_invalid_count = 0 if self.CS.steer_error: events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) if self.CS.steer_not_allowed: events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING])) 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.car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS): if self.CS.brake_error: events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) if not self.CS.gear_shifter_valid: events.append(create_event('wrongGear', [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 self.CS.gear_shifter == 3: events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE])) if ret.vEgo < self.CP.minEnableSpeed: events.append(create_event('speedTooLow', [ET.NO_ENTRY])) if self.CS.park_brake: events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE])) # disable on pedals rising edge or when brake is pressed and speed isn't zero if (ret.gasPressed and not self.gas_pressed_prev) or \ (ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)): events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE])) if ret.gasPressed: events.append(create_event('pedalPressed', [ET.PRE_ENABLE])) if ret.cruiseState.standstill: events.append(create_event('resumeRequired', [ET.WARNING])) # handle button presses for b in ret.buttonEvents: # do enable on both accel and decel buttons if b.type in ["accelCruise", "decelCruise"] and not b.pressed: events.append(create_event('buttonEnable', [ET.ENABLE])) # do disable on button down if b.type == "cancel" and b.pressed: events.append(create_event('buttonCancel', [ET.USER_DISABLE])) if self.CS.car_fingerprint == CAR.CADILLAC_CT6: if self.CS.acc_active and not self.acc_active_prev: events.append(create_event('pcmEnable', [ET.ENABLE])) if not self.CS.acc_active: events.append(create_event('pcmDisable', [ET.USER_DISABLE])) ret.events = events # update previous brake/gas pressed self.acc_active_prev = self.CS.acc_active self.gas_pressed_prev = ret.gasPressed self.brake_pressed_prev = ret.brakePressed # cast to reader so it can't be modified return ret.as_reader() # pass in a car.CarControl # to be called @ 100hz def apply(self, c, perception_state=log.Live20Data.new_message()): hud_v_cruise = c.hudControl.setSpeed if hud_v_cruise > 70: hud_v_cruise = 0 chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw] # For Openpilot, "enabled" includes pre-enable. # In GM, PCM faults out if ACC command overlaps user gas. enabled = c.enabled and not self.CS.user_gas_pressed self.CC.update(self.sendcan, enabled, self.CS, self.frame, \ c.actuators, hud_v_cruise, c.hudControl.lanesVisible, \ c.hudControl.leadVisible, \ chime, chime_count) self.frame += 1