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607 lines
25 KiB
607 lines
25 KiB
#!/usr/bin/env python3
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import os
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import math
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from cereal import car, log
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from common.numpy_fast import clip
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from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
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from common.profiler import Profiler
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from common.params import Params, put_nonblocking
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import cereal.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.swaglog import cloudlog
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
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from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
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from selfdrive.controls.lib.drive_helpers import update_v_cruise, initialize_v_cruise
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from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
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from selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
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from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
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from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
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from selfdrive.controls.lib.events import Events, ET
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from selfdrive.controls.lib.alertmanager import AlertManager
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.controls.lib.longitudinal_planner import LON_MPC_STEP
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from selfdrive.locationd.calibrationd import Calibration
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from selfdrive.hardware import HARDWARE, TICI
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LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
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LANE_DEPARTURE_THRESHOLD = 0.1
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STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
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STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
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SIMULATION = "SIMULATION" in os.environ
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NOSENSOR = "NOSENSOR" in os.environ
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IGNORE_PROCESSES = set(["rtshield", "uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"])
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ThermalStatus = log.DeviceState.ThermalStatus
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State = log.ControlsState.OpenpilotState
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PandaType = log.PandaState.PandaType
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Desire = log.LateralPlan.Desire
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LaneChangeState = log.LateralPlan.LaneChangeState
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LaneChangeDirection = log.LateralPlan.LaneChangeDirection
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EventName = car.CarEvent.EventName
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class Controls:
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def __init__(self, sm=None, pm=None, can_sock=None):
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config_realtime_process(3, Priority.CTRL_HIGH)
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# Setup sockets
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self.pm = pm
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if self.pm is None:
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self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
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'carControl', 'carEvents', 'carParams'])
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self.sm = sm
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if self.sm is None:
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ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
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self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration',
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'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
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'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'], ignore_alive=ignore)
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self.can_sock = can_sock
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if can_sock is None:
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can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
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self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
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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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get_one_can(self.can_sock)
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self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
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# read params
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params = Params()
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self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
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self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
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community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
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openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
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passive = params.get("Passive", encoding='utf8') == "1" or not openpilot_enabled_toggle
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# detect sound card presence and ensure successful init
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sounds_available = HARDWARE.get_sound_card_online()
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car_recognized = self.CP.carName != 'mock'
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# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
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controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
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community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
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self.read_only = not car_recognized or not controller_available or \
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self.CP.dashcamOnly or community_feature_disallowed
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if self.read_only:
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self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
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# Write CarParams for radard and boardd safety mode
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cp_bytes = self.CP.to_bytes()
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params.put("CarParams", cp_bytes)
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put_nonblocking("CarParamsCache", cp_bytes)
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self.CC = car.CarControl.new_message()
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self.AM = AlertManager()
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self.events = Events()
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self.LoC = LongControl(self.CP, self.CI.compute_gb)
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self.VM = VehicleModel(self.CP)
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if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
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self.LaC = LatControlAngle(self.CP)
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elif self.CP.lateralTuning.which() == 'pid':
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self.LaC = LatControlPID(self.CP)
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elif self.CP.lateralTuning.which() == 'indi':
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self.LaC = LatControlINDI(self.CP)
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elif self.CP.lateralTuning.which() == 'lqr':
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self.LaC = LatControlLQR(self.CP)
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self.state = State.disabled
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self.enabled = False
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self.active = False
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self.can_rcv_error = False
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self.soft_disable_timer = 0
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self.v_cruise_kph = 255
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self.v_cruise_kph_last = 0
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self.mismatch_counter = 0
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self.can_error_counter = 0
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self.last_blinker_frame = 0
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self.saturated_count = 0
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self.distance_traveled = 0
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self.last_functional_fan_frame = 0
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self.events_prev = []
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self.current_alert_types = [ET.PERMANENT]
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self.logged_comm_issue = False
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self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
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self.sm['deviceState'].freeSpacePercent = 100
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self.sm['driverMonitoringState'].events = []
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self.sm['driverMonitoringState'].awarenessStatus = 1.
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self.sm['driverMonitoringState'].faceDetected = False
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self.sm['liveParameters'].valid = True
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self.startup_event = get_startup_event(car_recognized, controller_available)
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if not sounds_available:
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self.events.add(EventName.soundsUnavailable, static=True)
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if community_feature_disallowed:
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self.events.add(EventName.communityFeatureDisallowed, static=True)
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if not car_recognized:
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self.events.add(EventName.carUnrecognized, static=True)
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elif self.read_only:
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self.events.add(EventName.dashcamMode, static=True)
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# controlsd is driven by can recv, expected at 100Hz
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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self.prof = Profiler(False) # off by default
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def update_events(self, CS):
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"""Compute carEvents from carState"""
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self.events.clear()
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self.events.add_from_msg(CS.events)
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self.events.add_from_msg(self.sm['driverMonitoringState'].events)
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# Handle startup event
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if self.startup_event is not None:
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self.events.add(self.startup_event)
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self.startup_event = None
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# Create events for battery, temperature, disk space, and memory
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if self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
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# at zero percent battery, while discharging, OP should not allowed
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self.events.add(EventName.lowBattery)
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if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
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self.events.add(EventName.overheat)
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if self.sm['deviceState'].freeSpacePercent < 7:
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# under 7% of space free no enable allowed
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self.events.add(EventName.outOfSpace)
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if self.sm['deviceState'].memoryUsagePercent > 90:
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self.events.add(EventName.lowMemory)
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# Alert if fan isn't spinning for 5 seconds
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if self.sm['pandaState'].pandaType in [PandaType.uno, PandaType.dos]:
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if self.sm['pandaState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
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if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
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self.events.add(EventName.fanMalfunction)
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else:
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self.last_functional_fan_frame = self.sm.frame
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# Handle calibration status
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cal_status = self.sm['liveCalibration'].calStatus
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if cal_status != Calibration.CALIBRATED:
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if cal_status == Calibration.UNCALIBRATED:
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self.events.add(EventName.calibrationIncomplete)
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else:
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self.events.add(EventName.calibrationInvalid)
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# Handle lane change
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if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
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direction = self.sm['lateralPlan'].laneChangeDirection
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if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
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(CS.rightBlindspot and direction == LaneChangeDirection.right):
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self.events.add(EventName.laneChangeBlocked)
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else:
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if direction == LaneChangeDirection.left:
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self.events.add(EventName.preLaneChangeLeft)
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else:
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self.events.add(EventName.preLaneChangeRight)
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elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
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LaneChangeState.laneChangeFinishing]:
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self.events.add(EventName.laneChange)
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if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
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self.events.add(EventName.canError)
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safety_mismatch = self.sm['pandaState'].safetyModel != self.CP.safetyModel
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safety_mismatch = safety_mismatch or self.sm['pandaState'].safetyParam != self.CP.safetyParam
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if (safety_mismatch and self.sm.frame > 2 / DT_CTRL) or self.mismatch_counter >= 200:
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self.events.add(EventName.controlsMismatch)
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if not self.sm['liveParameters'].valid:
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self.events.add(EventName.vehicleModelInvalid)
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if len(self.sm['radarState'].radarErrors):
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self.events.add(EventName.radarFault)
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elif not self.sm.all_alive_and_valid():
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self.events.add(EventName.commIssue)
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if not self.logged_comm_issue:
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cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
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self.logged_comm_issue = True
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else:
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self.logged_comm_issue = False
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if not self.sm['lateralPlan'].mpcSolutionValid:
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self.events.add(EventName.plannerError)
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if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
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if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
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self.events.add(EventName.sensorDataInvalid)
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if not self.sm['liveLocationKalman'].posenetOK:
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self.events.add(EventName.posenetInvalid)
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if not self.sm['liveLocationKalman'].deviceStable:
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self.events.add(EventName.deviceFalling)
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if log.PandaState.FaultType.relayMalfunction in self.sm['pandaState'].faults:
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self.events.add(EventName.relayMalfunction)
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if self.sm['longitudinalPlan'].fcw:
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self.events.add(EventName.fcw)
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# TODO: fix simulator
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if not SIMULATION:
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if not NOSENSOR:
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if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and not TICI:
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# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
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self.events.add(EventName.noGps)
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if not self.sm.all_alive(['roadCameraState', 'driverCameraState']) and (self.sm.frame > 5 / DT_CTRL):
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self.events.add(EventName.cameraMalfunction)
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if self.sm['modelV2'].frameDropPerc > 20:
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self.events.add(EventName.modeldLagging)
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# Check if all manager processes are running
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not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
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if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
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self.events.add(EventName.processNotRunning)
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# Only allow engagement with brake pressed when stopped behind another stopped car
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if CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \
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and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
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self.events.add(EventName.noTarget)
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def data_sample(self):
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"""Receive data from sockets and update carState"""
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# Update carState from CAN
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can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
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CS = self.CI.update(self.CC, can_strs)
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self.sm.update(0)
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# Check for CAN timeout
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if not can_strs:
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self.can_error_counter += 1
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self.can_rcv_error = True
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else:
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self.can_rcv_error = False
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# When the panda and controlsd do not agree on controls_allowed
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# we want to disengage openpilot. However the status from the panda goes through
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# another socket other than the CAN messages and one can arrive earlier than the other.
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# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
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if not self.enabled:
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self.mismatch_counter = 0
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if not self.sm['pandaState'].controlsAllowed and self.enabled:
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self.mismatch_counter += 1
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self.distance_traveled += CS.vEgo * DT_CTRL
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return CS
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def state_transition(self, CS):
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"""Compute conditional state transitions and execute actions on state transitions"""
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self.v_cruise_kph_last = self.v_cruise_kph
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# if stock cruise is completely disabled, then we can use our own set speed logic
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if not self.CP.enableCruise:
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self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
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elif self.CP.enableCruise and CS.cruiseState.enabled:
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self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
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# decrease the soft disable timer at every step, as it's reset on
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# entrance in SOFT_DISABLING state
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self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
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self.current_alert_types = [ET.PERMANENT]
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# ENABLED, PRE ENABLING, SOFT DISABLING
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if self.state != State.disabled:
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# user and immediate disable always have priority in a non-disabled state
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if self.events.any(ET.USER_DISABLE):
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self.state = State.disabled
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self.current_alert_types.append(ET.USER_DISABLE)
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elif self.events.any(ET.IMMEDIATE_DISABLE):
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self.state = State.disabled
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self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
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else:
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# ENABLED
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if self.state == State.enabled:
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if self.events.any(ET.SOFT_DISABLE):
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self.state = State.softDisabling
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self.soft_disable_timer = 300 # 3s
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self.current_alert_types.append(ET.SOFT_DISABLE)
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# SOFT DISABLING
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elif self.state == State.softDisabling:
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if not self.events.any(ET.SOFT_DISABLE):
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# no more soft disabling condition, so go back to ENABLED
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self.state = State.enabled
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elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
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self.current_alert_types.append(ET.SOFT_DISABLE)
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elif self.soft_disable_timer <= 0:
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self.state = State.disabled
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# PRE ENABLING
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elif self.state == State.preEnabled:
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if not self.events.any(ET.PRE_ENABLE):
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self.state = State.enabled
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else:
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self.current_alert_types.append(ET.PRE_ENABLE)
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# DISABLED
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elif self.state == State.disabled:
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if self.events.any(ET.ENABLE):
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if self.events.any(ET.NO_ENTRY):
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self.current_alert_types.append(ET.NO_ENTRY)
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else:
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if self.events.any(ET.PRE_ENABLE):
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self.state = State.preEnabled
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else:
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self.state = State.enabled
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self.current_alert_types.append(ET.ENABLE)
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self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
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# Check if actuators are enabled
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self.active = self.state == State.enabled or self.state == State.softDisabling
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if self.active:
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self.current_alert_types.append(ET.WARNING)
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# Check if openpilot is engaged
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self.enabled = self.active or self.state == State.preEnabled
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def state_control(self, CS):
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"""Given the state, this function returns an actuators packet"""
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# Update VehicleModel
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params = self.sm['liveParameters']
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x = max(params.stiffnessFactor, 0.1)
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sr = max(params.steerRatio, 0.1)
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self.VM.update_params(x, sr)
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lat_plan = self.sm['lateralPlan']
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long_plan = self.sm['longitudinalPlan']
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actuators = car.CarControl.Actuators.new_message()
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if CS.leftBlinker or CS.rightBlinker:
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self.last_blinker_frame = self.sm.frame
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# State specific actions
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if not self.active:
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self.LaC.reset()
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self.LoC.reset(v_pid=CS.vEgo)
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long_plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['longitudinalPlan'])
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# no greater than dt mpc + dt, to prevent too high extraps
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dt = min(long_plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
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a_acc_sol = long_plan.aStart + (dt / LON_MPC_STEP) * (long_plan.aTarget - long_plan.aStart)
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v_acc_sol = long_plan.vStart + dt * (a_acc_sol + long_plan.aStart) / 2.0
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# Gas/Brake PID loop
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actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, long_plan.vTargetFuture, a_acc_sol, self.CP)
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# Steering PID loop and lateral MPC
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actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params, lat_plan)
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# Check for difference between desired angle and angle for angle based control
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angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
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abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
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if angle_control_saturated and not CS.steeringPressed and self.active:
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self.saturated_count += 1
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else:
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self.saturated_count = 0
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# Send a "steering required alert" if saturation count has reached the limit
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if (lac_log.saturated and not CS.steeringPressed) or \
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(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
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|
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if len(lat_plan.dPathPoints):
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# Check if we deviated from the path
|
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left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
|
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right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
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|
|
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if left_deviation or right_deviation:
|
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self.events.add(EventName.steerSaturated)
|
|
|
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return actuators, v_acc_sol, a_acc_sol, lac_log
|
|
|
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def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
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"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
|
|
|
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CC = car.CarControl.new_message()
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CC.enabled = self.enabled
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CC.actuators = actuators
|
|
|
|
CC.cruiseControl.override = True
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CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
|
|
|
|
# Some override values for Honda
|
|
# brake discount removes a sharp nonlinearity
|
|
brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
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speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
|
|
CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
|
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CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['longitudinalPlan'].aTarget, CS.vEgo, self.sm['longitudinalPlan'].vTarget)
|
|
|
|
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
|
|
CC.hudControl.speedVisible = self.enabled
|
|
CC.hudControl.lanesVisible = self.enabled
|
|
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
|
|
|
|
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
|
|
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
|
|
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
|
|
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
|
|
|
|
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
|
|
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
|
|
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
|
|
|
|
meta = self.sm['modelV2'].meta
|
|
if len(meta.desirePrediction) and ldw_allowed:
|
|
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
|
|
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
|
|
l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
|
|
r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
|
|
|
|
CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
|
|
CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
|
|
|
|
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
|
|
self.events.add(EventName.ldw)
|
|
|
|
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
|
|
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
|
|
self.AM.add_many(self.sm.frame, alerts, self.enabled)
|
|
self.AM.process_alerts(self.sm.frame, clear_event)
|
|
CC.hudControl.visualAlert = self.AM.visual_alert
|
|
|
|
if not self.read_only:
|
|
# send car controls over can
|
|
can_sends = self.CI.apply(CC)
|
|
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
|
|
|
|
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
|
|
(self.state == State.softDisabling)
|
|
|
|
# Curvature & Steering angle
|
|
params = self.sm['liveParameters']
|
|
lat_plan = self.sm['lateralPlan']
|
|
|
|
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetAverageDeg)
|
|
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo)
|
|
angle_steers_des = math.degrees(self.VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
|
|
angle_steers_des += params.angleOffsetDeg
|
|
|
|
# controlsState
|
|
dat = messaging.new_message('controlsState')
|
|
dat.valid = CS.canValid
|
|
controlsState = dat.controlsState
|
|
controlsState.alertText1 = self.AM.alert_text_1
|
|
controlsState.alertText2 = self.AM.alert_text_2
|
|
controlsState.alertSize = self.AM.alert_size
|
|
controlsState.alertStatus = self.AM.alert_status
|
|
controlsState.alertBlinkingRate = self.AM.alert_rate
|
|
controlsState.alertType = self.AM.alert_type
|
|
controlsState.alertSound = self.AM.audible_alert
|
|
controlsState.canMonoTimes = list(CS.canMonoTimes)
|
|
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
|
|
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
|
|
controlsState.enabled = self.enabled
|
|
controlsState.active = self.active
|
|
controlsState.curvature = curvature
|
|
controlsState.steeringAngleDesiredDeg = angle_steers_des
|
|
controlsState.state = self.state
|
|
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
|
|
controlsState.longControlState = self.LoC.long_control_state
|
|
controlsState.vPid = float(self.LoC.v_pid)
|
|
controlsState.vCruise = float(self.v_cruise_kph)
|
|
controlsState.upAccelCmd = float(self.LoC.pid.p)
|
|
controlsState.uiAccelCmd = float(self.LoC.pid.i)
|
|
controlsState.ufAccelCmd = float(self.LoC.pid.f)
|
|
controlsState.vTargetLead = float(v_acc)
|
|
controlsState.aTarget = float(a_acc)
|
|
controlsState.cumLagMs = -self.rk.remaining * 1000.
|
|
controlsState.startMonoTime = int(start_time * 1e9)
|
|
controlsState.forceDecel = bool(force_decel)
|
|
controlsState.canErrorCounter = self.can_error_counter
|
|
|
|
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
controlsState.lateralControlState.angleState = lac_log
|
|
elif self.CP.lateralTuning.which() == 'pid':
|
|
controlsState.lateralControlState.pidState = lac_log
|
|
elif self.CP.lateralTuning.which() == 'lqr':
|
|
controlsState.lateralControlState.lqrState = lac_log
|
|
elif self.CP.lateralTuning.which() == 'indi':
|
|
controlsState.lateralControlState.indiState = lac_log
|
|
self.pm.send('controlsState', dat)
|
|
|
|
# carState
|
|
car_events = self.events.to_msg()
|
|
cs_send = messaging.new_message('carState')
|
|
cs_send.valid = CS.canValid
|
|
cs_send.carState = CS
|
|
cs_send.carState.events = car_events
|
|
self.pm.send('carState', cs_send)
|
|
|
|
# carEvents - logged every second or on change
|
|
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
|
|
ce_send = messaging.new_message('carEvents', len(self.events))
|
|
ce_send.carEvents = car_events
|
|
self.pm.send('carEvents', ce_send)
|
|
self.events_prev = self.events.names.copy()
|
|
|
|
# carParams - logged every 50 seconds (> 1 per segment)
|
|
if (self.sm.frame % int(50. / DT_CTRL) == 0):
|
|
cp_send = messaging.new_message('carParams')
|
|
cp_send.carParams = self.CP
|
|
self.pm.send('carParams', cp_send)
|
|
|
|
# carControl
|
|
cc_send = messaging.new_message('carControl')
|
|
cc_send.valid = CS.canValid
|
|
cc_send.carControl = CC
|
|
self.pm.send('carControl', cc_send)
|
|
|
|
# copy CarControl to pass to CarInterface on the next iteration
|
|
self.CC = CC
|
|
|
|
def step(self):
|
|
start_time = sec_since_boot()
|
|
self.prof.checkpoint("Ratekeeper", ignore=True)
|
|
|
|
# Sample data from sockets and get a carState
|
|
CS = self.data_sample()
|
|
self.prof.checkpoint("Sample")
|
|
|
|
self.update_events(CS)
|
|
|
|
if not self.read_only:
|
|
# Update control state
|
|
self.state_transition(CS)
|
|
self.prof.checkpoint("State transition")
|
|
|
|
# Compute actuators (runs PID loops and lateral MPC)
|
|
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
|
|
|
|
self.prof.checkpoint("State Control")
|
|
|
|
# Publish data
|
|
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
|
|
self.prof.checkpoint("Sent")
|
|
|
|
def controlsd_thread(self):
|
|
while True:
|
|
self.step()
|
|
self.rk.monitor_time()
|
|
self.prof.display()
|
|
|
|
def main(sm=None, pm=None, logcan=None):
|
|
controls = Controls(sm, pm, logcan)
|
|
controls.controlsd_thread()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|