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246 lines
8.6 KiB
246 lines
8.6 KiB
#!/usr/bin/env python
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import os
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import time
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import common.numpy_fast as np
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from selfdrive.config import Conversions as CV
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from selfdrive.car.toyota.carstate import CarState, CAR
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from selfdrive.car.toyota.carcontroller import CarController, ECU, check_ecu_msgs
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from cereal import car
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from selfdrive.services import service_list
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import selfdrive.messaging as messaging
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from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
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class CarInterface(object):
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def __init__(self, CP, logcan, sendcan=None):
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self.logcan = logcan
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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.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.cruise_enabled_prev = False
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# *** init the major players ***
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self.CS = CarState(CP, self.logcan)
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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, CP.enableCamera, CP.enableDsu, CP.enableApgs)
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@staticmethod
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def get_params(candidate, fingerprint):
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# kg of standard extra cargo to count for drive, gas, etc...
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std_cargo = 136
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ret = car.CarParams.new_message()
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ret.carName = "toyota"
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ret.radarName = "toyota"
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ret.carFingerprint = candidate
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ret.safetyModel = car.CarParams.SafetyModels.toyota
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ret.enableSteer = True
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ret.enableBrake = True
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# pedal
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ret.enableCruise = True
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# FIXME: 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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m_civic = 2923./2.205 + std_cargo
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l_civic = 2.70
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aF_civic = l_civic * 0.4
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aR_civic = l_civic - aF_civic
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j_civic = 2500
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cF_civic = 85400
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cR_civic = 90000
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stop_and_go = True
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ret.m = 3045./2.205 + std_cargo
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ret.l = 2.70
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ret.aF = ret.l * 0.44
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ret.sR = 14.5 #Rav4 2017, TODO: find exact value for Prius
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if candidate == CAR.PRIUS:
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ret.steerKp, ret.steerKi = 0.2, 0.01
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elif candidate == CAR.RAV4: # rav4 control seem to be ok with integrators
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ret.steerKp, ret.steerKi = 0.2, 0.05
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ret.steerKf = 0.00007818594 # full torque for 10 deg at 80mph
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# min speed to enable ACC. if car can do stop and go, then set enabling speed
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# to a negative value, so it won't matter.
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if candidate == CAR.PRIUS:
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ret.minEnableSpeed = -1.
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elif candidate == CAR.RAV4: # TODO: hack Rav4 to do stop and go
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ret.minEnableSpeed = 19. * CV.MPH_TO_MS
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ret.aR = ret.l - ret.aF
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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.j = j_civic * ret.m * ret.l**2 / (m_civic * l_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.cF = cF_civic * ret.m / m_civic * (ret.aR / ret.l) / (aR_civic / l_civic)
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ret.cR = cR_civic * ret.m / m_civic * (ret.aF / ret.l) / (aF_civic / l_civic)
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# no rear steering, at least on the listed cars above
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ret.chi = 0.
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# steer, gas, brake limitations VS speed
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ret.steerMaxBP = [16. * CV.KPH_TO_MS, 45. * CV.KPH_TO_MS] # breakpoints at 1 and 40 kph
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ret.steerMaxV = [1., 1.] # 2/3rd torque allowed above 45 kph
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.5]
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ret.brakeMaxBP = [5., 20.]
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ret.brakeMaxV = [1., 0.8]
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ret.enableCamera = not check_ecu_msgs(fingerprint, candidate, ECU.CAM)
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ret.enableDsu = not check_ecu_msgs(fingerprint, candidate, ECU.DSU)
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ret.enableApgs = False # not check_ecu_msgs(fingerprint, candidate, ECU.APGS)
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print "ECU Camera Simulated: ", ret.enableCamera
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print "ECU DSU Simulated: ", ret.enableDsu
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print "ECU APGS Simulated: ", ret.enableApgs
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ret.enableGas = True
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ret.steerLimitAlert = False
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return ret
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@staticmethod
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def compute_gb(accel, speed):
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# toyota interface is already in accelration cmd, so conversion to gas-brake it's a pass-through.
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return accel
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# returns a car.CarState
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def update(self, c):
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# ******************* do can recv *******************
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can_pub_main = []
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canMonoTimes = []
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self.CS.update()
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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.vEgoRaw = self.CS.v_ego_raw
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ret.aEgo = self.CS.a_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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# gear shifter
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ret.gearShifter = self.CS.gear_shifter
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# gas pedal
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ret.gas = self.CS.car_gas / 256.0
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ret.gasPressed = self.CS.pedal_gas > 0
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# brake pedal
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ret.brake = self.CS.user_brake
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ret.brakePressed = self.CS.brake_pressed != 0
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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ret.steeringRate = self.CS.angle_steers_rate
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ret.steeringTorque = 0
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ret.steeringPressed = self.CS.steer_override
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# cruise state
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ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
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ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
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ret.cruiseState.available = bool(self.CS.main_on)
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ret.cruiseState.speedOffset = 0.
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# TODO: button presses
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buttonEvents = []
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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 != 0
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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 != 0
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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# events
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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 not ret.gearShifter == 'drive' and self.CP.enableDsu:
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.door_all_closed:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.seatbelt:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.esp_disabled and self.CP.enableDsu:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.main_on and self.CP.enableDsu:
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events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gearShifter == 'reverse' and self.CP.enableDsu:
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steer_error:
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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if self.CS.low_speed_lockout:
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events.append(create_event('lowSpeedLockout', [ET.NO_ENTRY]))
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if ret.vEgo < self.CP.minEnableSpeed and self.CP.enableDsu:
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events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
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if c.actuators.gas > 0.1:
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# some margin on the actuator to not false trigger cancellation while stopping
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events.append(create_event('speedTooLow', [ET.IMMEDIATE_DISABLE]))
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if ret.vEgo < 0.001:
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# while in standstill, send a user alert
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events.append(create_event('manualRestart', [ET.WARNING]))
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# enable request in prius is simple, as we activate when Toyota is active (rising edge)
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if ret.cruiseState.enabled and not self.cruise_enabled_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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elif not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on pedals rising edge or when brake is pressed and speed isn't zero
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if (ret.gasPressed and not self.gas_pressed_prev) or \
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(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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ret.events = events
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ret.canMonoTimes = canMonoTimes
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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return ret.as_reader()
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
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c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
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c.hudControl.audibleAlert)
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self.frame += 1
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return False
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