You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
91 lines
2.7 KiB
91 lines
2.7 KiB
#!/usr/bin/env python3
|
|
import math
|
|
from cereal import car
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.swaglog import cloudlog
|
|
import cereal.messaging as messaging
|
|
from selfdrive.car import gen_empty_fingerprint, get_safety_config
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
# mocked car interface to work with chffrplus
|
|
TS = 0.01 # 100Hz
|
|
YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
|
|
# low pass gain
|
|
LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
def __init__(self, CP, CarController, CarState):
|
|
super().__init__(CP, CarController, CarState)
|
|
|
|
cloudlog.debug("Using Mock Car Interface")
|
|
|
|
# TODO: subscribe to phone sensor
|
|
self.sensor = messaging.sub_sock('sensorEvents')
|
|
self.gps = messaging.sub_sock('gpsLocationExternal')
|
|
|
|
self.speed = 0.
|
|
self.prev_speed = 0.
|
|
self.yaw_rate = 0.
|
|
self.yaw_rate_meas = 0.
|
|
|
|
@staticmethod
|
|
def compute_gb(accel, speed):
|
|
return accel
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
|
|
ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
|
|
ret.carName = "mock"
|
|
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
|
|
ret.mass = 1700.
|
|
ret.rotationalInertia = 2500.
|
|
ret.wheelbase = 2.70
|
|
ret.centerToFront = ret.wheelbase * 0.5
|
|
ret.steerRatio = 13. # reasonable
|
|
ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
|
|
ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
# get basic data from phone and gps since CAN isn't connected
|
|
sensors = messaging.recv_sock(self.sensor)
|
|
if sensors is not None:
|
|
for sensor in sensors.sensorEvents:
|
|
if sensor.type == 4: # gyro
|
|
self.yaw_rate_meas = -sensor.gyro.v[0]
|
|
|
|
gps = messaging.recv_sock(self.gps)
|
|
if gps is not None:
|
|
self.prev_speed = self.speed
|
|
self.speed = gps.gpsLocationExternal.speed
|
|
|
|
# create message
|
|
ret = car.CarState.new_message()
|
|
ret.canValid = True
|
|
|
|
# speeds
|
|
ret.vEgo = self.speed
|
|
ret.vEgoRaw = self.speed
|
|
a = self.speed - self.prev_speed
|
|
|
|
ret.aEgo = a
|
|
ret.brakePressed = a < -0.5
|
|
|
|
ret.standstill = self.speed < 0.01
|
|
ret.wheelSpeeds.fl = self.speed
|
|
ret.wheelSpeeds.fr = self.speed
|
|
ret.wheelSpeeds.rl = self.speed
|
|
ret.wheelSpeeds.rr = self.speed
|
|
|
|
self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
|
|
curvature = self.yaw_rate / max(self.speed, 1.)
|
|
ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
|
|
|
|
return ret.as_reader()
|
|
|
|
def apply(self, c):
|
|
# in mock no carcontrols
|
|
return []
|
|
|