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279 lines
9.9 KiB
279 lines
9.9 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 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
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from openpilot.common.swaglog import cloudlog, ForwardingHandler
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from opendbc.car import DT_CTRL, carlog, structs
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from opendbc.car.can_definitions import CanData, CanRecvCallable, CanSendCallable
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from opendbc.car.fw_versions import ObdCallback
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from opendbc.car.car_helpers import get_car, get_radar_interface
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from opendbc.car.interfaces import CarInterfaceBase, RadarInterfaceBase
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from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp
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from openpilot.selfdrive.car.cruise import VCruiseHelper
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from openpilot.selfdrive.car.car_specific import MockCarState
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REPLAY = "REPLAY" in os.environ
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EventName = log.OnroadEvent.EventName
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# forward
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carlog.addHandler(ForwardingHandler(cloudlog))
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def obd_callback(params: Params) -> ObdCallback:
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def set_obd_multiplexing(obd_multiplexing: bool):
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if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
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cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
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params.remove("ObdMultiplexingChanged")
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params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
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params.get_bool("ObdMultiplexingChanged", block=True)
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cloudlog.warning("OBD multiplexing set successfully")
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return set_obd_multiplexing
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def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]:
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def can_recv(wait_for_one: bool = False) -> list[list[CanData]]:
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"""
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wait_for_one: wait the normal logcan socket timeout for a CAN packet, may return empty list if nothing comes
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Returns: CAN packets comprised of CanData objects for easy access
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"""
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ret = []
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for can in messaging.drain_sock(logcan, wait_for_one=wait_for_one):
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ret.append([CanData(msg.address, msg.dat, msg.src) for msg in can.can])
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return ret
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def can_send(msgs: list[CanData]) -> None:
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sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan'))
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return can_recv, can_send
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class Car:
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CI: CarInterfaceBase
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RI: RadarInterfaceBase
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CP: car.CarParams
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def __init__(self, CI=None, RI=None) -> None:
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self.can_sock = messaging.sub_sock('can', timeout=20)
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self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents'])
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self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput', 'liveTracks'])
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self.can_rcv_cum_timeout_counter = 0
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self.CC_prev = car.CarControl.new_message()
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self.initialized_prev = False
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self.last_actuators_output = structs.CarControl.Actuators()
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self.params = Params()
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self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])
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if CI is None:
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# wait for one pandaState and one CAN packet
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print("Waiting for CAN messages...")
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while True:
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can = messaging.recv_one_retry(self.can_sock)
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if len(can.can) > 0:
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break
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experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled")
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num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
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cached_params = None
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cached_params_raw = self.params.get("CarParamsCache")
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if cached_params_raw is not None:
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with car.CarParams.from_bytes(cached_params_raw) as _cached_params:
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cached_params = _cached_params
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self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params)
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self.RI = get_radar_interface(self.CI.CP)
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self.CP = self.CI.CP
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# continue onto next fingerprinting step in pandad
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self.params.put_bool("FirmwareQueryDone", True)
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else:
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self.CI, self.CP = CI, CI.CP
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self.RI = RI
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# set alternative experiences from parameters
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disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
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self.CP.alternativeExperience = 0
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if not disengage_on_accelerator:
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self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
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openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle")
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controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly
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self.CP.passive = not controller_available or self.CP.dashcamOnly
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if self.CP.passive:
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safety_config = structs.CarParams.SafetyConfig()
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safety_config.safetyModel = structs.CarParams.SafetyModel.noOutput
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self.CP.safetyConfigs = [safety_config]
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if self.CP.secOcRequired and not self.params.get_bool("IsReleaseBranch"):
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secoc_key = self.params.get("SecOCKey", encoding='utf8')
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if secoc_key is not None:
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saved_secoc_key = bytes.fromhex(secoc_key.strip())
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if len(saved_secoc_key) == 16:
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self.CP.secOcKeyAvailable = True
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self.CI.CS.secoc_key = saved_secoc_key
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if controller_available:
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self.CI.CC.secoc_key = saved_secoc_key
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else:
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cloudlog.warning("Saved SecOC key is invalid")
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# Write previous route's CarParams
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prev_cp = self.params.get("CarParamsPersistent")
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if prev_cp is not None:
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self.params.put("CarParamsPrevRoute", prev_cp)
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# Write CarParams for controls and radard
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cp_bytes = self.CP.to_bytes()
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self.params.put("CarParams", cp_bytes)
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self.params.put_nonblocking("CarParamsCache", cp_bytes)
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self.params.put_nonblocking("CarParamsPersistent", cp_bytes)
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self.mock_carstate = MockCarState()
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self.v_cruise_helper = VCruiseHelper(self.CP)
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self.is_metric = self.params.get_bool("IsMetric")
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self.experimental_mode = self.params.get_bool("ExperimentalMode")
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# card is driven by can recv, expected at 100Hz
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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def state_update(self) -> tuple[car.CarState, structs.RadarDataT | None]:
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"""carState update loop, driven by can"""
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can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
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can_list = can_capnp_to_list(can_strs)
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# Update carState from CAN
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CS = self.CI.update(can_list)
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if self.CP.carName == 'mock':
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CS = self.mock_carstate.update(CS)
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# Update radar tracks from CAN
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RD: structs.RadarDataT | None = self.RI.update(can_list)
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self.sm.update(0)
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can_rcv_valid = len(can_strs) > 0
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# Check for CAN timeout
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if not can_rcv_valid:
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self.can_rcv_cum_timeout_counter += 1
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if can_rcv_valid and REPLAY:
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self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
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# TODO: mirror the carState.cruiseState struct?
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self.v_cruise_helper.update_v_cruise(CS, self.sm['carControl'].enabled, self.is_metric)
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CS.vCruise = float(self.v_cruise_helper.v_cruise_kph)
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CS.vCruiseCluster = float(self.v_cruise_helper.v_cruise_cluster_kph)
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return CS, RD
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def state_publish(self, CS: car.CarState, RD: structs.RadarDataT | None):
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"""carState and carParams publish loop"""
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# carParams - logged every 50 seconds (> 1 per segment)
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if self.sm.frame % int(50. / DT_CTRL) == 0:
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cp_send = messaging.new_message('carParams')
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cp_send.valid = True
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cp_send.carParams = self.CP
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self.pm.send('carParams', cp_send)
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# publish new carOutput
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co_send = messaging.new_message('carOutput')
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co_send.valid = self.sm.all_checks(['carControl'])
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co_send.carOutput.actuatorsOutput = self.last_actuators_output
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self.pm.send('carOutput', co_send)
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# kick off controlsd step while we actuate the latest carControl packet
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cs_send = messaging.new_message('carState')
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cs_send.valid = CS.canValid
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cs_send.carState = CS
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cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter
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cs_send.carState.cumLagMs = -self.rk.remaining * 1000.
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self.pm.send('carState', cs_send)
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if RD is not None:
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tracks_msg = messaging.new_message('liveTracks')
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tracks_msg.valid = len(RD.errors) == 0
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tracks_msg.liveTracks = RD
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self.pm.send('liveTracks', tracks_msg)
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def controls_update(self, CS: car.CarState, CC: car.CarControl):
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"""control update loop, driven by carControl"""
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if not self.initialized_prev:
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# Initialize CarInterface, once controls are ready
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# TODO: this can make us miss at least a few cycles when doing an ECU knockout
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self.CI.init(self.CP, *self.can_callbacks)
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# signal pandad to switch to car safety mode
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self.params.put_bool_nonblocking("ControlsReady", True)
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if self.sm.all_alive(['carControl']):
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# send car controls over can
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now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
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self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos)
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self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
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self.CC_prev = CC
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def step(self):
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CS, RD = self.state_update()
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if self.sm['carControl'].enabled and not self.CC_prev.enabled:
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self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
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self.state_publish(CS, RD)
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initialized = (not any(e.name == EventName.selfdriveInitializing for e in self.sm['onroadEvents']) and
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self.sm.seen['onroadEvents'])
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if not self.CP.passive and initialized:
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self.controls_update(CS, self.sm['carControl'])
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self.initialized_prev = initialized
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def params_thread(self, evt):
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while not evt.is_set():
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self.is_metric = self.params.get_bool("IsMetric")
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self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
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time.sleep(0.1)
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def card_thread(self):
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e = threading.Event()
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t = threading.Thread(target=self.params_thread, args=(e, ))
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try:
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t.start()
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while True:
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self.step()
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self.rk.monitor_time()
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finally:
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e.set()
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t.join()
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def main():
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config_realtime_process(4, Priority.CTRL_HIGH)
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car = Car()
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car.card_thread()
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if __name__ == "__main__":
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main()
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