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