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205 lines
6.7 KiB
205 lines
6.7 KiB
#!/usr/bin/env python
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from cereal import car
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from common.realtime import sec_since_boot
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.subaru.values import CAR
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from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser
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try:
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from selfdrive.car.subaru.carcontroller import CarController
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except ImportError:
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CarController = None
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class CarInterface(object):
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def __init__(self, CP, sendcan=None):
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self.CP = CP
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self.frame = 0
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self.can_invalid_count = 0
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self.acc_active_prev = 0
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# *** init the major players ***
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self.CS = CarState(CP)
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self.VM = VehicleModel(CP)
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self.pt_cp = get_powertrain_can_parser(CP)
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# sending if read only is False
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if sendcan is not None:
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self.sendcan = sendcan
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self.CC = CarController(CP.carFingerprint)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.0
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@staticmethod
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def get_params(candidate, fingerprint):
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ret = car.CarParams.new_message()
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ret.carName = "subaru"
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ret.carFingerprint = candidate
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ret.safetyModel = car.CarParams.SafetyModels.subaru
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ret.enableCruise = False
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ret.steerLimitAlert = True
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ret.enableCamera = True
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std_cargo = 136
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ret.steerRateCost = 0.7
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if candidate in [CAR.IMPREZA]:
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ret.mass = 1568 + std_cargo
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 15
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tire_stiffness_factor = 1.0
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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.steerKf = 0.00005
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ret.steerKiBP, ret.steerKpBP = [[0., 20.], [0., 20.]]
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ret.steerKpV, ret.steerKiV = [[0.2, 0.3], [0.02, 0.03]]
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.steerControlType = car.CarParams.SteerControlType.torque
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ret.steerRatioRear = 0.
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# testing tuning
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# No long control in subaru
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [0.]
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ret.longPidDeadzoneBP = [0.]
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ret.longPidDeadzoneV = [0.]
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ret.longitudinalKpBP = [0.]
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ret.longitudinalKpV = [0.]
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ret.longitudinalKiBP = [0.]
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ret.longitudinalKiV = [0.]
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# end from gm
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# hardcoding honda civic 2016 touring params so they can be used to
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# scale unknown params for other cars
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mass_civic = 2923./2.205 + std_cargo
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wheelbase_civic = 2.70
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centerToFront_civic = wheelbase_civic * 0.4
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centerToRear_civic = wheelbase_civic - centerToFront_civic
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rotationalInertia_civic = 2500
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tireStiffnessFront_civic = 192150
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tireStiffnessRear_civic = 202500
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centerToRear = ret.wheelbase - ret.centerToFront
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = rotationalInertia_civic * \
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ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront = (tireStiffnessFront_civic * tire_stiffness_factor) * \
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ret.mass / mass_civic * \
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(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
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ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
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ret.mass / mass_civic * \
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(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
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return ret
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# returns a car.CarState
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def update(self, c):
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self.pt_cp.update(int(sec_since_boot() * 1e9), False)
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self.CS.update(self.pt_cp)
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# create message
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ret = car.CarState.new_message()
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# speeds
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ret.vEgo = self.CS.v_ego
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ret.aEgo = self.CS.a_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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# torque and user override. Driver awareness
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# timer resets when the user uses the steering wheel.
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ret.steeringPressed = self.CS.steer_override
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ret.steeringTorque = self.CS.steer_torque_driver
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# cruise state
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.leftBlinker = self.CS.left_blinker_on
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ret.rightBlinker = self.CS.right_blinker_on
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ret.seatbeltUnlatched = self.CS.seatbelt_unlatched
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buttonEvents = []
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# blinkers
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'leftBlinker'
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be.pressed = self.CS.left_blinker_on
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'rightBlinker'
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be.pressed = self.CS.right_blinker_on
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buttonEvents.append(be)
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'accelCruise'
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buttonEvents.append(be)
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events = []
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if not self.CS.can_valid:
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self.can_invalid_count += 1
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if self.can_invalid_count >= 5:
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events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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else:
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self.can_invalid_count = 0
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.acc_active and not self.acc_active_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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if not self.CS.acc_active:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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## handle button presses
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#for b in ret.buttonEvents:
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# # do enable on both accel and decel buttons
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# if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
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# events.append(create_event('buttonEnable', [ET.ENABLE]))
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# # do disable on button down
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# if b.type == "cancel" and b.pressed:
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# events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
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ret.events = events
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# update previous brake/gas pressed
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self.acc_active_prev = self.CS.acc_active
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# cast to reader so it can't be modified
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return ret.as_reader()
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def apply(self, c):
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self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators)
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self.frame += 1
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