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91 lines
3.5 KiB
91 lines
3.5 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.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.car.subaru.values import CAR
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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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=[]):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "subaru"
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ret.radarOffCan = True
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ret.safetyModel = car.CarParams.SafetyModel.subaru
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# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
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# was never released
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ret.enableCamera = True
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ret.steerRateCost = 0.7
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ret.steerLimitTimer = 0.4
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if candidate in [CAR.IMPREZA]:
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ret.mass = 1568. + STD_CARGO_KG
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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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ret.steerActuatorDelay = 0.4 # end-to-end angle controller
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ret.lateralTuning.pid.kf = 0.00005
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
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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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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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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.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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ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
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buttonEvents = []
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be = car.CarState.ButtonEvent.new_message()
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be.type = car.CarState.ButtonEvent.Type.accelCruise
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buttonEvents.append(be)
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# TODO: add gearShifter to carState
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events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.unknown])
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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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if not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# disable on gas pedal rising edge
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if (ret.gasPressed and not self.gas_pressed_prev):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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ret.events = events
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self.gas_pressed_prev = ret.gasPressed
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self.cruise_enabled_prev = ret.cruiseState.enabled
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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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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.cruiseControl.cancel, c.hudControl.visualAlert,
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c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible)
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self.frame += 1
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return can_sends
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