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558 lines
23 KiB
558 lines
23 KiB
#!/usr/bin/env python3
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import os
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import gc
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from cereal import car, log
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from common.numpy_fast import clip
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from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper, DT_CTRL
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from common.profiler import Profiler
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from common.params import Params, put_nonblocking
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import cereal.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.car_helpers import get_car, get_startup_event
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from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
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from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
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from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
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from selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
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from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
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from selfdrive.controls.lib.events import Events, ET
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from selfdrive.controls.lib.alertmanager import AlertManager
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.controls.lib.planner import LON_MPC_STEP
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from selfdrive.locationd.calibration_helpers import Calibration
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LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
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LANE_DEPARTURE_THRESHOLD = 0.1
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STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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ThermalStatus = log.ThermalData.ThermalStatus
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State = log.ControlsState.OpenpilotState
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HwType = log.HealthData.HwType
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LongitudinalPlanSource = log.Plan.LongitudinalPlanSource
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Desire = log.PathPlan.Desire
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LaneChangeState = log.PathPlan.LaneChangeState
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LaneChangeDirection = log.PathPlan.LaneChangeDirection
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EventName = car.CarEvent.EventName
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class Controls:
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def __init__(self, sm=None, pm=None, can_sock=None):
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gc.disable()
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set_realtime_priority(3)
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# Setup sockets
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self.pm = pm
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if self.pm is None:
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self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', \
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'carControl', 'carEvents', 'carParams'])
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self.sm = sm
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if self.sm is None:
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self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', \
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'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
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self.can_sock = can_sock
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if can_sock is None:
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can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
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self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
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# wait for one health and one CAN packet
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hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
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has_relay = hw_type in [HwType.blackPanda, HwType.uno]
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print("Waiting for CAN messages...")
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messaging.get_one_can(self.can_sock)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
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# read params
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params = Params()
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self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
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self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
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internet_needed = params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None
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community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
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openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
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passive = params.get("Passive", encoding='utf8') == "1" or \
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internet_needed or not openpilot_enabled_toggle
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# detect sound card presence and ensure successful init
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sounds_available = not os.path.isfile('/EON') or (os.path.isdir('/proc/asound/card0') \
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and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
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car_recognized = self.CP.carName != 'mock'
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# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
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controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive
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community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
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self.read_only = not car_recognized or not controller_available or \
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self.CP.dashcamOnly or community_feature_disallowed
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if self.read_only:
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self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
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# Write CarParams for radard and boardd safety mode
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cp_bytes = self.CP.to_bytes()
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params.put("CarParams", cp_bytes)
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put_nonblocking("CarParamsCache", cp_bytes)
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put_nonblocking("LongitudinalControl", "1" if self.CP.openpilotLongitudinalControl else "0")
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self.CC = car.CarControl.new_message()
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self.AM = AlertManager()
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self.events = Events()
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self.LoC = LongControl(self.CP, self.CI.compute_gb)
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self.VM = VehicleModel(self.CP)
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if self.CP.lateralTuning.which() == 'pid':
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self.LaC = LatControlPID(self.CP)
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elif self.CP.lateralTuning.which() == 'indi':
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self.LaC = LatControlINDI(self.CP)
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elif self.CP.lateralTuning.which() == 'lqr':
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self.LaC = LatControlLQR(self.CP)
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self.state = State.disabled
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self.enabled = False
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self.active = False
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self.can_rcv_error = False
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self.soft_disable_timer = 0
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self.v_cruise_kph = 255
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self.v_cruise_kph_last = 0
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self.mismatch_counter = 0
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self.can_error_counter = 0
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self.last_blinker_frame = 0
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self.saturated_count = 0
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self.events_prev = []
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self.current_alert_types = []
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self.sm['liveCalibration'].calStatus = Calibration.INVALID
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self.sm['thermal'].freeSpace = 1.
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self.sm['dMonitoringState'].events = []
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self.sm['dMonitoringState'].awarenessStatus = 1.
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self.sm['dMonitoringState'].faceDetected = False
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self.startup_event = get_startup_event(car_recognized, controller_available, hw_type)
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if not sounds_available:
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self.events.add(EventName.soundsUnavailable, static=True)
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if internet_needed:
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self.events.add(EventName.internetConnectivityNeeded, static=True)
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if community_feature_disallowed:
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self.events.add(EventName.communityFeatureDisallowed, static=True)
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if self.read_only and not passive:
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self.events.add(EventName.carUnrecognized, static=True)
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# if hw_type == HwType.whitePanda:
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# self.events.add(EventName.whitePandaUnsupported, static=True)
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# controlsd is driven by can recv, expected at 100Hz
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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self.prof = Profiler(False) # off by default
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def update_events(self, CS):
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"""Compute carEvents from carState"""
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self.events.clear()
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self.events.add_from_msg(CS.events)
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self.events.add_from_msg(self.sm['dMonitoringState'].events)
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# Handle 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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# Create events for battery, temperature, disk space, and memory
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if self.sm['thermal'].batteryPercent < 1 and self.sm['thermal'].chargingError:
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# at zero percent battery, while discharging, OP should not allowed
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self.events.add(EventName.lowBattery)
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if self.sm['thermal'].thermalStatus >= ThermalStatus.red:
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self.events.add(EventName.overheat)
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if self.sm['thermal'].freeSpace < 0.07:
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# under 7% of space free no enable allowed
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self.events.add(EventName.outOfSpace)
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if self.sm['thermal'].memUsedPercent > 90:
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self.events.add(EventName.lowMemory)
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# Handle calibration status
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cal_status = self.sm['liveCalibration'].calStatus
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if cal_status != Calibration.CALIBRATED:
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if cal_status == Calibration.UNCALIBRATED:
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self.events.add(EventName.calibrationIncomplete)
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else:
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self.events.add(EventName.calibrationInvalid)
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# Handle lane change
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if self.sm['pathPlan'].laneChangeState == LaneChangeState.preLaneChange:
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if self.sm['pathPlan'].laneChangeDirection == 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['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting, \
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LaneChangeState.laneChangeFinishing]:
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self.events.add(EventName.laneChange)
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if self.can_rcv_error:
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self.events.add(EventName.canError)
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if self.mismatch_counter >= 200:
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self.events.add(EventName.controlsMismatch)
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if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
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# only plan not being received: radar not communicating
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self.events.add(EventName.radarCommIssue)
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elif not self.sm.all_alive_and_valid():
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self.events.add(EventName.commIssue)
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if not self.sm['pathPlan'].mpcSolutionValid:
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self.events.add(EventName.plannerError)
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if not self.sm['liveLocationKalman'].inputsOK and os.getenv("NOSENSOR") is None:
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if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
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self.events.add(EventName.sensorDataInvalid)
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if not self.sm['pathPlan'].paramsValid:
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self.events.add(EventName.vehicleModelInvalid)
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if not self.sm['liveLocationKalman'].posenetOK:
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self.events.add(EventName.posenetInvalid)
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if not self.sm['plan'].radarValid:
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self.events.add(EventName.radarFault)
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if self.sm['plan'].radarCanError:
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self.events.add(EventName.radarCanError)
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if not CS.canValid:
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self.events.add(EventName.canError)
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if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
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self.events.add(EventName.relayMalfunction)
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if self.sm['plan'].fcw:
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self.events.add(EventName.fcw)
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# Only allow engagement with brake pressed when stopped behind another stopped car
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if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
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and not self.CP.radarOffCan and CS.vEgo < 0.3:
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self.events.add(EventName.noTarget)
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def data_sample(self):
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"""Receive data from sockets and update carState"""
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# Update carState from CAN
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can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
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CS = self.CI.update(self.CC, can_strs)
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self.sm.update(0)
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# Check for CAN timeout
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if not can_strs:
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self.can_error_counter += 1
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self.can_rcv_error = True
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else:
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self.can_rcv_error = False
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# When the panda and controlsd do not agree on controls_allowed
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# we want to disengage openpilot. However the status from the panda goes through
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# another socket other than the CAN messages and one can arrive earlier than the other.
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# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
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if not self.enabled:
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self.mismatch_counter = 0
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if not self.sm['health'].controlsAllowed and self.enabled:
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self.mismatch_counter += 1
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return CS
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def state_transition(self, CS):
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"""Compute conditional state transitions and execute actions on state transitions"""
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self.v_cruise_kph_last = self.v_cruise_kph
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# if stock cruise is completely disabled, then we can use our own set speed logic
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if not self.CP.enableCruise:
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self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
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elif self.CP.enableCruise and CS.cruiseState.enabled:
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self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
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# decrease the soft disable timer at every step, as it's reset on
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# entrance in SOFT_DISABLING state
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self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
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self.current_alert_types = [ET.PERMANENT]
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# ENABLED, PRE ENABLING, SOFT DISABLING
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if self.state != State.disabled:
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# user and immediate disable always have priority in a non-disabled state
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if self.events.any(ET.USER_DISABLE):
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self.state = State.disabled
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self.current_alert_types.append(ET.USER_DISABLE)
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elif self.events.any(ET.IMMEDIATE_DISABLE):
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self.state = State.disabled
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self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
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else:
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# ENABLED
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if self.state == State.enabled:
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if self.events.any(ET.SOFT_DISABLE):
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self.state = State.softDisabling
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self.soft_disable_timer = 300 # 3s
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self.current_alert_types.append(ET.SOFT_DISABLE)
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# SOFT DISABLING
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elif self.state == State.softDisabling:
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if not self.events.any(ET.SOFT_DISABLE):
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# no more soft disabling condition, so go back to ENABLED
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self.state = State.enabled
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elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
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self.current_alert_types.append(ET.SOFT_DISABLE)
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elif self.soft_disable_timer <= 0:
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self.state = State.disabled
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# PRE ENABLING
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elif self.state == State.preEnabled:
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if not self.events.any(ET.PRE_ENABLE):
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self.state = State.enabled
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# DISABLED
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elif self.state == State.disabled:
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if self.events.any(ET.ENABLE):
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if self.events.any(ET.NO_ENTRY):
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self.current_alert_types.append(ET.NO_ENTRY)
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else:
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if self.events.any(ET.PRE_ENABLE):
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self.state = State.preEnabled
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else:
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self.state = State.enabled
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self.current_alert_types.append(ET.ENABLE)
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self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
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# Check if actuators are enabled
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self.active = self.state == State.enabled or self.state == State.softDisabling
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if self.active:
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self.current_alert_types.append(ET.WARNING)
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# Check if openpilot is engaged
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self.enabled = self.active or self.state == State.preEnabled
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def state_control(self, CS):
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"""Given the state, this function returns an actuators packet"""
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plan = self.sm['plan']
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path_plan = self.sm['pathPlan']
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actuators = car.CarControl.Actuators.new_message()
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if CS.leftBlinker or CS.rightBlinker:
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self.last_blinker_frame = self.sm.frame
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# State specific actions
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if not self.active:
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self.LaC.reset()
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self.LoC.reset(v_pid=CS.vEgo)
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plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['plan'])
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# no greater than dt mpc + dt, to prevent too high extraps
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dt = min(plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
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a_acc_sol = plan.aStart + (dt / LON_MPC_STEP) * (plan.aTarget - plan.aStart)
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v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
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# Gas/Brake PID loop
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actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, plan.vTargetFuture, a_acc_sol, self.CP)
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# Steering PID loop and lateral MPC
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actuators.steer, actuators.steerAngle, lac_log = self.LaC.update(self.active, CS, self.CP, path_plan)
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# Check for difference between desired angle and angle for angle based control
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angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
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abs(actuators.steerAngle - CS.steeringAngle) > STEER_ANGLE_SATURATION_THRESHOLD
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if angle_control_saturated and not CS.steeringPressed and self.active:
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self.saturated_count += 1
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else:
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self.saturated_count = 0
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# Send a "steering required alert" if saturation count has reached the limit
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if (lac_log.saturated and not CS.steeringPressed) or \
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(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
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# Check if we deviated from the path
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left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
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right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
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if left_deviation or right_deviation:
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self.events.add(EventName.steerSaturated)
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return actuators, v_acc_sol, a_acc_sol, lac_log
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def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
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"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
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CC = car.CarControl.new_message()
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CC.enabled = self.enabled
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CC.actuators = actuators
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CC.cruiseControl.override = True
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CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
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# Some override values for Honda
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# brake discount removes a sharp nonlinearity
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brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
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speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
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CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
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CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['plan'].aTarget, CS.vEgo, self.sm['plan'].vTarget)
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CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
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CC.hudControl.speedVisible = self.enabled
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CC.hudControl.lanesVisible = self.enabled
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CC.hudControl.leadVisible = self.sm['plan'].hasLead
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right_lane_visible = self.sm['pathPlan'].rProb > 0.5
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left_lane_visible = self.sm['pathPlan'].lProb > 0.5
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CC.hudControl.rightLaneVisible = bool(right_lane_visible)
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CC.hudControl.leftLaneVisible = bool(left_lane_visible)
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recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
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ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
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and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
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meta = self.sm['model'].meta
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if len(meta.desirePrediction) and ldw_allowed:
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l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
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r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
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l_lane_close = left_lane_visible and (self.sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET))
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r_lane_close = right_lane_visible and (self.sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET))
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CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
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CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
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if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
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self.events.add(EventName.ldw)
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alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
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self.AM.add_many(self.sm.frame, alerts, self.enabled)
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self.AM.process_alerts(self.sm.frame)
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CC.hudControl.visualAlert = self.AM.visual_alert
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if not self.read_only:
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# send car controls over can
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can_sends = self.CI.apply(CC)
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self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
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force_decel = (self.sm['dMonitoringState'].awarenessStatus < 0.) or \
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(self.state == State.softDisabling)
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|
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steer_angle_rad = (CS.steeringAngle - self.sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD
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|
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# controlsState
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dat = messaging.new_message('controlsState')
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dat.valid = CS.canValid
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controlsState = dat.controlsState
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controlsState.alertText1 = self.AM.alert_text_1
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controlsState.alertText2 = self.AM.alert_text_2
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controlsState.alertSize = self.AM.alert_size
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controlsState.alertStatus = self.AM.alert_status
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controlsState.alertBlinkingRate = self.AM.alert_rate
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controlsState.alertType = self.AM.alert_type
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controlsState.alertSound = self.AM.audible_alert
|
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controlsState.driverMonitoringOn = self.sm['dMonitoringState'].faceDetected
|
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controlsState.canMonoTimes = list(CS.canMonoTimes)
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|
controlsState.planMonoTime = self.sm.logMonoTime['plan']
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|
controlsState.pathPlanMonoTime = self.sm.logMonoTime['pathPlan']
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|
controlsState.enabled = self.enabled
|
|
controlsState.active = self.active
|
|
controlsState.vEgo = CS.vEgo
|
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controlsState.vEgoRaw = CS.vEgoRaw
|
|
controlsState.angleSteers = CS.steeringAngle
|
|
controlsState.curvature = self.VM.calc_curvature(steer_angle_rad, CS.vEgo)
|
|
controlsState.steerOverride = CS.steeringPressed
|
|
controlsState.state = self.state
|
|
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
|
|
controlsState.longControlState = self.LoC.long_control_state
|
|
controlsState.vPid = float(self.LoC.v_pid)
|
|
controlsState.vCruise = float(self.v_cruise_kph)
|
|
controlsState.upAccelCmd = float(self.LoC.pid.p)
|
|
controlsState.uiAccelCmd = float(self.LoC.pid.i)
|
|
controlsState.ufAccelCmd = float(self.LoC.pid.f)
|
|
controlsState.angleSteersDes = float(self.LaC.angle_steers_des)
|
|
controlsState.vTargetLead = float(v_acc)
|
|
controlsState.aTarget = float(a_acc)
|
|
controlsState.jerkFactor = float(self.sm['plan'].jerkFactor)
|
|
controlsState.gpsPlannerActive = self.sm['plan'].gpsPlannerActive
|
|
controlsState.vCurvature = self.sm['plan'].vCurvature
|
|
controlsState.decelForModel = self.sm['plan'].longitudinalPlanSource == LongitudinalPlanSource.model
|
|
controlsState.cumLagMs = -self.rk.remaining * 1000.
|
|
controlsState.startMonoTime = int(start_time * 1e9)
|
|
controlsState.mapValid = self.sm['plan'].mapValid
|
|
controlsState.forceDecel = bool(force_decel)
|
|
controlsState.canErrorCounter = self.can_error_counter
|
|
|
|
if self.CP.lateralTuning.which() == 'pid':
|
|
controlsState.lateralControlState.pidState = lac_log
|
|
elif self.CP.lateralTuning.which() == 'lqr':
|
|
controlsState.lateralControlState.lqrState = lac_log
|
|
elif self.CP.lateralTuning.which() == 'indi':
|
|
controlsState.lateralControlState.indiState = lac_log
|
|
self.pm.send('controlsState', dat)
|
|
|
|
# carState
|
|
car_events = self.events.to_msg()
|
|
cs_send = messaging.new_message('carState')
|
|
cs_send.valid = CS.canValid
|
|
cs_send.carState = CS
|
|
cs_send.carState.events = car_events
|
|
self.pm.send('carState', cs_send)
|
|
|
|
# carEvents - 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('carEvents', len(self.events))
|
|
ce_send.carEvents = car_events
|
|
self.pm.send('carEvents', ce_send)
|
|
self.events_prev = self.events.names.copy()
|
|
|
|
# carParams - logged every 50 seconds (> 1 per segment)
|
|
if (self.sm.frame % int(50. / DT_CTRL) == 0):
|
|
cp_send = messaging.new_message('carParams')
|
|
cp_send.carParams = self.CP
|
|
self.pm.send('carParams', cp_send)
|
|
|
|
# carControl
|
|
cc_send = messaging.new_message('carControl')
|
|
cc_send.valid = CS.canValid
|
|
cc_send.carControl = CC
|
|
self.pm.send('carControl', cc_send)
|
|
|
|
# copy CarControl to pass to CarInterface on the next iteration
|
|
self.CC = CC
|
|
|
|
def step(self):
|
|
start_time = sec_since_boot()
|
|
self.prof.checkpoint("Ratekeeper", ignore=True)
|
|
|
|
# Sample data from sockets and get a carState
|
|
CS = self.data_sample()
|
|
self.prof.checkpoint("Sample")
|
|
|
|
self.update_events(CS)
|
|
|
|
if not self.read_only:
|
|
# Update control state
|
|
self.state_transition(CS)
|
|
self.prof.checkpoint("State transition")
|
|
|
|
# Compute actuators (runs PID loops and lateral MPC)
|
|
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
|
|
|
|
self.prof.checkpoint("State Control")
|
|
|
|
# Publish data
|
|
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
|
|
self.prof.checkpoint("Sent")
|
|
|
|
def controlsd_thread(self):
|
|
while True:
|
|
self.step()
|
|
self.rk.monitor_time()
|
|
self.prof.display()
|
|
|
|
def main(sm=None, pm=None, logcan=None):
|
|
controls = Controls(sm, pm, logcan)
|
|
controls.controlsd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|