#!/usr/bin/env python3 from cereal import car from selfdrive.swaglog import cloudlog 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.ford.carstate import CarState, get_can_parser from selfdrive.car.ford.values import MAX_ANGLE, ECU, ECU_FINGERPRINT, 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 class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController): self.CP = CP self.VM = VehicleModel(CP) self.frame = 0 self.gas_pressed_prev = False self.brake_pressed_prev = False self.cruise_enabled_prev = False # *** init the major players *** self.CS = CarState(CP) self.cp = get_can_parser(CP) self.CC = None if CarController is not None: self.CC = CarController(self.cp.dbc_name, CP.enableCamera, self.VM) @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 = "ford" ret.carFingerprint = candidate ret.isPandaBlack = has_relay ret.safetyModel = car.CarParams.SafetyModel.ford ret.dashcamOnly = True # pedal ret.enableCruise = True ret.wheelbase = 2.85 ret.steerRatio = 14.8 ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF ret.steerActuatorDelay = 0.1 # Default delay, not measured yet ret.steerLimitTimer = 0.8 ret.steerRateCost = 1.0 ret.centerToFront = ret.wheelbase * 0.44 tire_stiffness_factor = 0.5328 # min speed to enable ACC. if car can do stop and go, then set enabling speed # to a negative value, so it won't matter. ret.minEnableSpeed = -1. # 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, tire_stiffness_factor=tire_stiffness_factor) # no rear steering, at least on the listed cars above ret.steerRatioRear = 0. ret.steerControlType = car.CarParams.SteerControlType.angle # steer, gas, brake limitations VS speed ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph ret.steerMaxV = [1.0] # 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.CAM) or has_relay ret.openpilotLongitudinalControl = False cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera) 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.CS.update(self.cp) # create message ret = car.CarState.new_message() ret.canValid = self.cp.can_valid # speeds ret.vEgo = self.CS.v_ego ret.vEgoRaw = self.CS.v_ego_raw 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 # steering wheel ret.steeringAngle = self.CS.angle_steers ret.steeringPressed = self.CS.steer_override # gas pedal ret.gas = self.CS.user_gas / 100. ret.gasPressed = self.CS.user_gas > 0.0001 ret.brakePressed = self.CS.brake_pressed ret.brakeLights = self.CS.brake_lights ret.cruiseState.enabled = not (self.CS.pcm_acc_status in [0, 3]) ret.cruiseState.speed = self.CS.v_cruise_pcm ret.cruiseState.available = self.CS.pcm_acc_status != 0 ret.genericToggle = self.CS.generic_toggle # events events = [] if self.CS.steer_error: events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT])) # enable request in prius is simple, as we activate when Toyota is active (rising edge) 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 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 self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled: events.append(create_event('steerTempUnavailableMute', [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): can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.hudControl.visualAlert, c.cruiseControl.cancel) self.frame += 1 return can_sends