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194 lines
7.5 KiB
194 lines
7.5 KiB
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
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AccState, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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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 get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "gm"
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ret.safetyModel = car.CarParams.SafetyModel.gm
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ret.enableCruise = False # stock cruise control is kept off
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# GM port is a community feature
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# TODO: make a port that uses a car harness and it only intercepts the camera
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ret.communityFeature = True
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# Presence of a camera on the object bus is ok.
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# Have to go to read_only if ASCM is online (ACC-enabled cars),
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# or camera is on powertrain bus (LKA cars without ACC).
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ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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ret.openpilotLongitudinalControl = ret.enableCamera
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tire_stiffness_factor = 0.444 # not optimized yet
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# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.
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ret.minSteerSpeed = 7 * CV.MPH_TO_MS
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]]
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ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
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ret.steerRateCost = 1.0
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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if candidate == CAR.VOLT:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1607. + STD_CARGO_KG
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ret.wheelbase = 2.69
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ret.steerRatio = 15.7
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # wild guess
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elif candidate == CAR.MALIBU:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1496. + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.steerRatio = 15.8
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # wild guess
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elif candidate == CAR.HOLDEN_ASTRA:
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ret.mass = 1363. + STD_CARGO_KG
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ret.wheelbase = 2.662
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# Remaining parameters copied from Volt for now
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ret.centerToFront = ret.wheelbase * 0.4
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.steerRatio = 15.7
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ret.steerRatioRear = 0.
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elif candidate == CAR.ACADIA:
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ret.minEnableSpeed = -1. # engage speed is decided by pcm
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ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.86
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ret.steerRatio = 14.4 # end to end is 13.46
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4
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elif candidate == CAR.BUICK_REGAL:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
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ret.wheelbase = 2.83 # 111.4 inches in meters
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ret.steerRatio = 14.4 # guess for tourx
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
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elif candidate == CAR.CADILLAC_ATS:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1601. + STD_CARGO_KG
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ret.wheelbase = 2.78
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ret.steerRatio = 15.3
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.49
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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 = scale_rot_inertia(ret.mass, ret.wheelbase)
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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, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.36]
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ret.stoppingControl = True
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ret.startAccel = 0.8
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ret.steerLimitTimer = 0.4
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ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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ret = self.CS.update(self.cp)
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ret.canValid = self.cp.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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buttonEvents = []
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
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be = car.CarState.ButtonEvent.new_message()
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be.type = ButtonType.unknown
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if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
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be.pressed = True
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but = self.CS.cruise_buttons
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else:
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be.pressed = False
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but = self.CS.prev_cruise_buttons
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if but == CruiseButtons.RES_ACCEL:
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if not (ret.cruiseState.enabled and ret.standstill):
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be.type = ButtonType.accelCruise # Suppress resume button if we're resuming from stop so we don't adjust speed.
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elif but == CruiseButtons.DECEL_SET:
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be.type = ButtonType.decelCruise
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elif but == CruiseButtons.CANCEL:
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be.type = ButtonType.cancel
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elif but == CruiseButtons.MAIN:
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be.type = ButtonType.altButton3
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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events = self.create_common_events(ret, pcm_enable=False)
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if ret.vEgo < self.CP.minEnableSpeed:
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events.add(EventName.belowEngageSpeed)
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if self.CS.park_brake:
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events.add(EventName.parkBrake)
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if ret.cruiseState.standstill:
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events.add(EventName.resumeRequired)
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if self.CS.pcm_acc_status == AccState.FAULTED:
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events.add(EventName.controlsFailed)
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if ret.vEgo < self.CP.minSteerSpeed:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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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 [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
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events.add(EventName.buttonEnable)
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# do disable on button down
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if b.type == ButtonType.cancel and b.pressed:
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events.add(EventName.buttonCancel)
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ret.events = events.to_msg()
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# copy back carState packet to CS
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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hud_v_cruise = c.hudControl.setSpeed
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if hud_v_cruise > 70:
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hud_v_cruise = 0
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# For Openpilot, "enabled" includes pre-enable.
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# In GM, PCM faults out if ACC command overlaps user gas.
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enabled = c.enabled and not self.CS.out.gasPressed
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can_sends = self.CC.update(enabled, self.CS, self.frame,
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c.actuators,
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hud_v_cruise, c.hudControl.lanesVisible,
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c.hudControl.leadVisible, c.hudControl.visualAlert)
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self.frame += 1
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return can_sends
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