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556 lines
24 KiB
556 lines
24 KiB
#!/usr/bin/env python3
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import numpy as np
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from cereal import car
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from common.numpy_fast import clip, interp
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from common.realtime import DT_CTRL
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from selfdrive.swaglog import cloudlog
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.events import ET
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from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
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from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
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from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
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from selfdrive.car.interfaces import CarInterfaceBase
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A_ACC_MAX = max(_A_CRUISE_MAX_V_FOLLOWING)
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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def compute_gb_honda(accel, speed):
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creep_brake = 0.0
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creep_speed = 2.3
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creep_brake_value = 0.15
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if speed < creep_speed:
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creep_brake = (creep_speed - speed) / creep_speed * creep_brake_value
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return float(accel) / 4.8 - creep_brake
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def get_compute_gb_acura():
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# generate a function that takes in [desired_accel, current_speed] -> [-1.0, 1.0]
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# where -1.0 is max brake and 1.0 is max gas
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# see debug/dump_accel_from_fiber.py to see how those parameters were generated
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w0 = np.array([[ 1.22056961, -0.39625418, 0.67952657],
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[ 1.03691769, 0.78210306, -0.41343188]])
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b0 = np.array([ 0.01536703, -0.14335321, -0.26932889])
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w2 = np.array([[-0.59124422, 0.42899439, 0.38660881],
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[ 0.79973811, 0.13178682, 0.08550351],
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[-0.15651935, -0.44360259, 0.76910877]])
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b2 = np.array([ 0.15624429, 0.02294923, -0.0341086 ])
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w4 = np.array([[-0.31521443],
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[-0.38626176],
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[ 0.52667892]])
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b4 = np.array([-0.02922216])
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def compute_output(dat, w0, b0, w2, b2, w4, b4):
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m0 = np.dot(dat, w0) + b0
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m0 = leakyrelu(m0, 0.1)
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m2 = np.dot(m0, w2) + b2
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m2 = leakyrelu(m2, 0.1)
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m4 = np.dot(m2, w4) + b4
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return m4
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def leakyrelu(x, alpha):
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return np.maximum(x, alpha * x)
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def _compute_gb_acura(accel, speed):
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# linearly extrap below v1 using v1 and v2 data
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v1 = 5.
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v2 = 10.
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dat = np.array([accel, speed])
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if speed > 5.:
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m4 = compute_output(dat, w0, b0, w2, b2, w4, b4)
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else:
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dat[1] = v1
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m4v1 = compute_output(dat, w0, b0, w2, b2, w4, b4)
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dat[1] = v2
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m4v2 = compute_output(dat, w0, b0, w2, b2, w4, b4)
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m4 = (speed - v1) * (m4v2 - m4v1) / (v2 - v1) + m4v1
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return float(m4)
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return _compute_gb_acura
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.last_enable_pressed = 0
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self.last_enable_sent = 0
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if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
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self.compute_gb = get_compute_gb_acura()
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else:
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self.compute_gb = compute_gb_honda
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@staticmethod
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def compute_gb(accel, speed): # pylint: disable=method-hidden
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raise NotImplementedError
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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# normalized max accel. Allowing max accel at low speed causes speed overshoots
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max_accel_bp = [10, 20] # m/s
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max_accel_v = [0.714, 1.0] # unit of max accel
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max_accel = interp(v_ego, max_accel_bp, max_accel_v)
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# limit the pcm accel cmd if:
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# - v_ego exceeds v_target, or
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# - a_ego exceeds a_target and v_ego is close to v_target
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eA = a_ego - a_target
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valuesA = [1.0, 0.1]
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bpA = [0.3, 1.1]
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eV = v_ego - v_target
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valuesV = [1.0, 0.1]
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bpV = [0.0, 0.5]
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valuesRangeV = [1., 0.]
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bpRangeV = [-1., 0.]
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# only limit if v_ego is close to v_target
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speedLimiter = interp(eV, bpV, valuesV)
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accelLimiter = max(interp(eA, bpA, valuesA), interp(eV, bpRangeV, valuesRangeV))
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# accelOverride is more or less the max throttle allowed to pcm: usually set to a constant
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# unless aTargetMax is very high and then we scale with it; this help in quicker restart
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return float(max(max_accel, a_target / A_ACC_MAX)) * min(speedLimiter, accelLimiter)
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
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ret.carName = "honda"
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if candidate in HONDA_BOSCH:
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ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness if has_relay else car.CarParams.SafetyModel.hondaBoschGiraffe
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rdr_bus = 0 if has_relay else 2
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ret.enableCamera = is_ecu_disconnected(fingerprint[rdr_bus], FINGERPRINTS, ECU_FINGERPRINT, candidate, Ecu.fwdCamera) or has_relay
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ret.radarOffCan = True
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ret.openpilotLongitudinalControl = False
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else:
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ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
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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.enableGasInterceptor = 0x201 in fingerprint[0]
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ret.openpilotLongitudinalControl = ret.enableCamera
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cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
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cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
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ret.enableCruise = not ret.enableGasInterceptor
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ret.communityFeature = ret.enableGasInterceptor
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# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
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# which improves controls quality as it removes the steering column torsion from feedback.
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# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.
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# For modeling details, see p.198-200 in "The Science of Vehicle Dynamics (2014), M. Guiggiani"
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0], [0]]
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kf = 0.00006 # conservative feed-forward
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eps_modified = False
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for fw in car_fw:
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if fw.ecu == "eps" and b"," in fw.fwVersion:
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eps_modified = True
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if candidate == CAR.CIVIC:
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stop_and_go = True
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ret.mass = CivicParams.MASS
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ret.wheelbase = CivicParams.WHEELBASE
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ret.centerToFront = CivicParams.CENTER_TO_FRONT
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ret.steerRatio = 15.38 # 10.93 is end-to-end spec
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if eps_modified:
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# stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
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# stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680
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# modified request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x2880, 0x3180
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# stock filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108
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# modified filter output values: 0x009F, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0108, 0x0400, 0x0480
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# note: max request allowed is 4096, but request is capped at 3840 in firmware, so modifications result in 2x max
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 8000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560], [0, 2560]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]]
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tire_stiffness_factor = 1.
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.54, 0.36]
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elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL):
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stop_and_go = True
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ret.mass = CivicParams.MASS
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ret.wheelbase = CivicParams.WHEELBASE
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ret.centerToFront = CivicParams.CENTER_TO_FRONT
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ret.steerRatio = 15.38 # 10.93 is end-to-end spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 1.
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate in (CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH):
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stop_and_go = True
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if not candidate == CAR.ACCORDH: # Hybrid uses same brake msg as hatch
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.83
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 16.33 # 11.82 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.8467
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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if eps_modified:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
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else:
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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elif candidate == CAR.ACURA_ILX:
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stop_and_go = False
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ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.67
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ret.centerToFront = ret.wheelbase * 0.37
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ret.steerRatio = 18.61 # 15.3 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.72
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate in (CAR.CRV, CAR.CRV_EU):
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stop_and_go = False
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ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.62
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.89 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.444
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.CRV_5G:
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stop_and_go = True
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.0 # 12.3 is spec end-to-end
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if eps_modified:
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# stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F
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# stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400
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# modified request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x1ACD, 0x239A, 0x2800
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 10000], [0, 2560, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.1]]
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else:
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]]
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tire_stiffness_factor = 0.677
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.CRV_HYBRID:
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stop_and_go = True
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ret.safetyParam = 1 # Accord and CRV 5G use an alternate user brake msg
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ret.mass = 1667. + STD_CARGO_KG # mean of 4 models in kg
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ret.wheelbase = 2.66
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 16.0 # 12.3 is spec end-to-end
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.677
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.FIT:
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stop_and_go = False
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ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.53
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ret.centerToFront = ret.wheelbase * 0.39
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ret.steerRatio = 13.06
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.75
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.25], [0.06]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.HRV:
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stop_and_go = False
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ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.61
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 15.2
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
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tire_stiffness_factor = 0.5
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.ACURA_RDX:
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stop_and_go = False
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ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 2.68
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ret.centerToFront = ret.wheelbase * 0.38
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ret.steerRatio = 15.0 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.444
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.ODYSSEY:
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stop_and_go = False
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ret.mass = 4471. * CV.LB_TO_KG + STD_CARGO_KG
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ret.wheelbase = 3.00
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ret.centerToFront = ret.wheelbase * 0.41
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ret.steerRatio = 14.35 # as spec
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
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tire_stiffness_factor = 0.82
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
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ret.longitudinalTuning.kpBP = [0., 5., 35.]
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ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
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ret.longitudinalTuning.kiBP = [0., 35.]
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ret.longitudinalTuning.kiV = [0.18, 0.12]
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elif candidate == CAR.ODYSSEY_CHN:
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stop_and_go = False
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ret.mass = 1849.2 + STD_CARGO_KG # mean of 4 models in kg
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ret.wheelbase = 2.90
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ret.centerToFront = ret.wheelbase * 0.41 # from CAR.ODYSSEY
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ret.steerRatio = 14.35
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ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end
|
|
tire_stiffness_factor = 0.82
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.45], [0.135]]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
|
|
|
elif candidate in (CAR.PILOT, CAR.PILOT_2019):
|
|
stop_and_go = False
|
|
ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG # average weight
|
|
ret.wheelbase = 2.82
|
|
ret.centerToFront = ret.wheelbase * 0.428
|
|
ret.steerRatio = 17.25 # as spec
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
|
tire_stiffness_factor = 0.444
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
|
|
|
elif candidate == CAR.RIDGELINE:
|
|
stop_and_go = False
|
|
ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 3.18
|
|
ret.centerToFront = ret.wheelbase * 0.41
|
|
ret.steerRatio = 15.59 # as spec
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
|
tire_stiffness_factor = 0.444
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
|
|
|
elif candidate == CAR.INSIGHT:
|
|
stop_and_go = True
|
|
ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.wheelbase = 2.7
|
|
ret.centerToFront = ret.wheelbase * 0.39
|
|
ret.steerRatio = 15.0 # 12.58 is spec end-to-end
|
|
ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end
|
|
tire_stiffness_factor = 0.82
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kpV = [1.2, 0.8, 0.5]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
ret.longitudinalTuning.kiV = [0.18, 0.12]
|
|
|
|
else:
|
|
raise ValueError("unsupported car %s" % candidate)
|
|
|
|
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
|
# to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
|
|
# conflict with PCM acc
|
|
ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptor) else 25.5 * CV.MPH_TO_MS
|
|
|
|
# TODO: get actual value, for now starting with reasonable value for
|
|
# civic and scaling by mass and wheelbase
|
|
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
|
|
|
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
|
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
|
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
|
tire_stiffness_factor=tire_stiffness_factor)
|
|
|
|
ret.gasMaxBP = [0.] # m/s
|
|
ret.gasMaxV = [0.6] if ret.enableGasInterceptor else [0.] # max gas allowed
|
|
ret.brakeMaxBP = [5., 20.] # m/s
|
|
ret.brakeMaxV = [1., 0.8] # max brake allowed
|
|
|
|
ret.stoppingControl = True
|
|
ret.startAccel = 0.5
|
|
|
|
ret.steerActuatorDelay = 0.1
|
|
ret.steerRateCost = 0.5
|
|
ret.steerLimitTimer = 0.8
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
# ******************* do can recv *******************
|
|
self.cp.update_strings(can_strings)
|
|
self.cp_cam.update_strings(can_strings)
|
|
if self.cp_body:
|
|
self.cp_body.update_strings(can_strings)
|
|
|
|
ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
|
|
|
|
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid and (self.cp_body is None or self.cp_body.can_valid)
|
|
ret.yawRate = self.VM.yaw_rate(ret.steeringAngle * CV.DEG_TO_RAD, ret.vEgo)
|
|
# FIXME: read sendcan for brakelights
|
|
brakelights_threshold = 0.02 if self.CS.CP.carFingerprint == CAR.CIVIC else 0.1
|
|
ret.brakeLights = bool(self.CS.brake_switch or
|
|
c.actuators.brake > brakelights_threshold)
|
|
|
|
buttonEvents = []
|
|
|
|
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
|
|
be = car.CarState.ButtonEvent.new_message()
|
|
be.type = ButtonType.unknown
|
|
if self.CS.cruise_buttons != 0:
|
|
be.pressed = True
|
|
but = self.CS.cruise_buttons
|
|
else:
|
|
be.pressed = False
|
|
but = self.CS.prev_cruise_buttons
|
|
if but == CruiseButtons.RES_ACCEL:
|
|
be.type = ButtonType.accelCruise
|
|
elif but == CruiseButtons.DECEL_SET:
|
|
be.type = ButtonType.decelCruise
|
|
elif but == CruiseButtons.CANCEL:
|
|
be.type = ButtonType.cancel
|
|
elif but == CruiseButtons.MAIN:
|
|
be.type = ButtonType.altButton3
|
|
buttonEvents.append(be)
|
|
|
|
if self.CS.cruise_setting != self.CS.prev_cruise_setting:
|
|
be = car.CarState.ButtonEvent.new_message()
|
|
be.type = ButtonType.unknown
|
|
if self.CS.cruise_setting != 0:
|
|
be.pressed = True
|
|
but = self.CS.cruise_setting
|
|
else:
|
|
be.pressed = False
|
|
but = self.CS.prev_cruise_setting
|
|
if but == 1:
|
|
be.type = ButtonType.altButton1
|
|
# TODO: more buttons?
|
|
buttonEvents.append(be)
|
|
ret.buttonEvents = buttonEvents
|
|
|
|
# events
|
|
events = self.create_common_events(ret, pcm_enable=False)
|
|
if self.CS.brake_error:
|
|
events.add(EventName.brakeUnavailable)
|
|
if self.CS.brake_hold and self.CS.CP.carFingerprint not in HONDA_BOSCH:
|
|
events.add(EventName.brakeHold)
|
|
if self.CS.park_brake:
|
|
events.add(EventName.parkBrake)
|
|
|
|
if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
|
|
events.add(EventName.belowEngageSpeed)
|
|
|
|
# it can happen that car cruise disables while comma system is enabled: need to
|
|
# keep braking if needed or if the speed is very low
|
|
if self.CP.enableCruise and not ret.cruiseState.enabled \
|
|
and (c.actuators.brake <= 0. or not self.CP.openpilotLongitudinalControl):
|
|
# non loud alert if cruise disables below 25mph as expected (+ a little margin)
|
|
if ret.vEgo < self.CP.minEnableSpeed + 2.:
|
|
events.add(EventName.speedTooLow)
|
|
else:
|
|
events.add(EventName.cruiseDisabled)
|
|
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
|
|
events.add(EventName.manualRestart)
|
|
|
|
cur_time = self.frame * DT_CTRL
|
|
enable_pressed = False
|
|
# handle button presses
|
|
for b in ret.buttonEvents:
|
|
|
|
# do enable on both accel and decel buttons
|
|
if b.type in [ButtonType.accelCruise, ButtonType.decelCruise] and not b.pressed:
|
|
self.last_enable_pressed = cur_time
|
|
enable_pressed = True
|
|
|
|
# do disable on button down
|
|
if b.type == "cancel" and b.pressed:
|
|
events.add(EventName.buttonCancel)
|
|
|
|
if self.CP.enableCruise:
|
|
# KEEP THIS EVENT LAST! send enable event if button is pressed and there are
|
|
# NO_ENTRY events, so controlsd will display alerts. Also not send enable events
|
|
# too close in time, so a no_entry will not be followed by another one.
|
|
# TODO: button press should be the only thing that triggers enable
|
|
if ((cur_time - self.last_enable_pressed) < 0.2 and
|
|
(cur_time - self.last_enable_sent) > 0.2 and
|
|
ret.cruiseState.enabled) or \
|
|
(enable_pressed and events.any(ET.NO_ENTRY)):
|
|
events.add(EventName.buttonEnable)
|
|
self.last_enable_sent = cur_time
|
|
elif enable_pressed:
|
|
events.add(EventName.buttonEnable)
|
|
|
|
ret.events = events.to_msg()
|
|
|
|
self.CS.out = ret.as_reader()
|
|
return self.CS.out
|
|
|
|
# pass in a car.CarControl
|
|
# to be called @ 100hz
|
|
def apply(self, c):
|
|
if c.hudControl.speedVisible:
|
|
hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
|
|
else:
|
|
hud_v_cruise = 255
|
|
|
|
pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
|
|
|
|
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
|
|
c.actuators,
|
|
c.cruiseControl.speedOverride,
|
|
c.cruiseControl.override,
|
|
c.cruiseControl.cancel,
|
|
pcm_accel,
|
|
hud_v_cruise,
|
|
c.hudControl.lanesVisible,
|
|
hud_show_car=c.hudControl.leadVisible,
|
|
hud_alert=c.hudControl.visualAlert)
|
|
|
|
self.frame += 1
|
|
return can_sends
|
|
|