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471 lines
15 KiB
471 lines
15 KiB
#!/usr/bin/env python3
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import binascii
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import os
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import struct
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import time
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from collections import namedtuple
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import numpy as np
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from opendbc import DBC_PATH
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from cereal import car
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from common.realtime import Ratekeeper
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from selfdrive.config import Conversions as CV
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import cereal.messaging as messaging
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from selfdrive.car import crc8_pedal
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from selfdrive.car.honda.values import CAR
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from selfdrive.car.honda.carstate import get_can_signals
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from selfdrive.boardd.boardd import can_list_to_can_capnp
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from opendbc.can.parser import CANParser
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from selfdrive.car.honda.interface import CarInterface
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from opendbc.can.dbc import dbc
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honda = dbc(os.path.join(DBC_PATH, "honda_civic_touring_2016_can_generated.dbc"))
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# Trick: set 0x201 (interceptor) in fingerprints for gas is controlled like if there was an interceptor
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CP = CarInterface.get_params(CAR.CIVIC, {0: {0x201: 6}, 1: {}, 2: {}, 3: {}})
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# Honda checksum
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def can_cksum(mm):
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s = 0
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for c in mm:
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s += (c >> 4)
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s += c & 0xF
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s = 8-s
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s %= 0x10
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return s
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def fix(msg, addr):
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msg2 = msg[0:-1] + (msg[-1] | can_cksum(struct.pack("I", addr)+msg)).to_bytes(1, 'little')
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return msg2
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def car_plant(pos, speed, grade, gas, brake):
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# vehicle parameters
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mass = 1700
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aero_cd = 0.3
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force_peak = mass*3.
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force_brake_peak = -mass*10. # 1g
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power_peak = 100000 # 100kW
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speed_base = power_peak/force_peak
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rolling_res = 0.01
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gravity = 9.81
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frontal_area = 2.2
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air_density = 1.225
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gas_to_peak_linear_slope = 3.33
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brake_to_peak_linear_slope = 0.3
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creep_accel_v = [1., 0.]
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creep_accel_bp = [0., 1.5]
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#*** longitudinal model ***
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# find speed where peak torque meets peak power
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force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
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if speed < speed_base: # torque control
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force_gas = gas * force_peak * gas_to_peak_linear_slope
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else: # power control
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force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
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force_grade = - np.sin(np.arctan(grade)) * mass * gravity
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creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
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force_creep = creep_accel * mass
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force_resistance = -(rolling_res * mass * gravity + 0.5 * speed**2 * aero_cd * air_density * frontal_area)
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force = force_gas + force_brake + force_resistance + force_grade + force_creep
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acceleration = force / mass
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# TODO: lateral model
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return speed, acceleration
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def get_car_can_parser():
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dbc_f = 'honda_civic_touring_2016_can_generated'
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signals = [
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("STEER_TORQUE", 0xe4, 0),
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("STEER_TORQUE_REQUEST", 0xe4, 0),
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("COMPUTER_BRAKE", 0x1fa, 0),
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("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
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("GAS_COMMAND", 0x200, 0),
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]
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checks = [
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(0xe4, 100),
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(0x1fa, 50),
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(0x200, 50),
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]
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return CANParser(dbc_f, signals, checks, 0)
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def to_3_byte(x):
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# Convert into 12 bit value
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s = struct.pack("!H", int(x))
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return binascii.hexlify(s)[1:]
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def to_3s_byte(x):
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s = struct.pack("!h", int(x))
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return binascii.hexlify(s)[1:]
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class Plant():
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messaging_initialized = False
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def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
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self.rate = rate
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if not Plant.messaging_initialized:
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Plant.logcan = messaging.pub_sock('can')
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Plant.sendcan = messaging.sub_sock('sendcan')
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Plant.model = messaging.pub_sock('model')
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Plant.front_frame = messaging.pub_sock('frontFrame')
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Plant.live_params = messaging.pub_sock('liveParameters')
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Plant.live_location_kalman = messaging.pub_sock('liveLocationKalman')
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Plant.health = messaging.pub_sock('health')
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Plant.thermal = messaging.pub_sock('thermal')
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Plant.dMonitoringState = messaging.pub_sock('dMonitoringState')
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Plant.cal = messaging.pub_sock('liveCalibration')
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Plant.controls_state = messaging.sub_sock('controlsState')
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Plant.plan = messaging.sub_sock('plan')
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Plant.messaging_initialized = True
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self.frame = 0
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self.angle_steer = 0.
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self.gear_choice = 0
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self.speed, self.speed_prev = 0., 0.
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self.esp_disabled = 0
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self.main_on = 1
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self.user_gas = 0
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self.computer_brake, self.user_brake = 0, 0
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self.brake_pressed = 0
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self.angle_steer_rate = 0
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self.distance, self.distance_prev = 0., 0.
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self.speed, self.speed_prev = speed, speed
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self.steer_error, self.brake_error, self.steer_not_allowed = 0, 0, 0
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self.gear_shifter = 8 # D gear
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self.pedal_gas = 0
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self.cruise_setting = 0
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self.seatbelt, self.door_all_closed = True, True
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self.steer_torque, self.v_cruise, self.acc_status = 0, 0, 0 # v_cruise is reported from can, not the one used for controls
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self.lead_relevancy = lead_relevancy
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# lead car
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self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
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self.rk = Ratekeeper(rate, print_delay_threshold=100)
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self.ts = 1./rate
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self.cp = get_car_can_parser()
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self.response_seen = False
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time.sleep(1)
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messaging.drain_sock(Plant.sendcan)
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messaging.drain_sock(Plant.controls_state)
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def close(self):
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Plant.logcan.close()
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Plant.model.close()
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Plant.front_frame.close()
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Plant.live_params.close()
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Plant.live_location_kalman.close()
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def speed_sensor(self, speed):
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if speed < 0.3:
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return 0
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else:
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return speed * CV.MS_TO_KPH
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def current_time(self):
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return float(self.rk.frame) / self.rate
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def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0, publish_model=True):
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gen_signals, gen_checks = get_can_signals(CP)
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sgs = [s[0] for s in gen_signals]
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msgs = [s[1] for s in gen_signals]
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cks_msgs = set(check[0] for check in gen_checks)
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cks_msgs.add(0x18F)
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cks_msgs.add(0x30C)
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# ******** get messages sent to the car ********
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can_strings = messaging.drain_sock_raw(Plant.sendcan, wait_for_one=self.response_seen)
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# After the first response the car is done fingerprinting, so we can run in lockstep with controlsd
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if can_strings:
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self.response_seen = True
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self.cp.update_strings(can_strings, sendcan=True)
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# ******** get controlsState messages for plotting ***
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controls_state_msgs = []
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for a in messaging.drain_sock(Plant.controls_state, wait_for_one=self.response_seen):
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controls_state_msgs.append(a.controlsState)
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fcw = None
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for a in messaging.drain_sock(Plant.plan):
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if a.plan.fcw:
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fcw = True
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if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
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brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE'] * 0.003906248
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else:
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brake = 0.0
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if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
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gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
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else:
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gas = 0.0
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if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
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steer_torque = self.cp.vl[0xe4]['STEER_TORQUE']*1.0/0xf00
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else:
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steer_torque = 0.0
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distance_lead = self.distance_lead_prev + v_lead * self.ts
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# ******** run the car ********
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speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
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distance = self.distance_prev + speed * self.ts
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speed = self.speed_prev + self.ts * acceleration
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if speed <= 0:
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speed = 0
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acceleration = 0
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# ******** lateral ********
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self.angle_steer -= (steer_torque/10.0) * self.ts
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# *** radar model ***
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if self.lead_relevancy:
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d_rel = np.maximum(0., distance_lead - distance)
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v_rel = v_lead - speed
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else:
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d_rel = 200.
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v_rel = 0.
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lateral_pos_rel = 0.
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# print at 5hz
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if (self.frame % (self.rate//5)) == 0:
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print("%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s"
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% (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel))
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# ******** publish the car ********
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vls_tuple = namedtuple('vls', [
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'XMISSION_SPEED',
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'WHEEL_SPEED_FL', 'WHEEL_SPEED_FR', 'WHEEL_SPEED_RL', 'WHEEL_SPEED_RR',
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'STEER_ANGLE', 'STEER_ANGLE_RATE', 'STEER_TORQUE_SENSOR', 'STEER_TORQUE_MOTOR',
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'LEFT_BLINKER', 'RIGHT_BLINKER',
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'GEAR',
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'WHEELS_MOVING',
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'BRAKE_ERROR_1', 'BRAKE_ERROR_2',
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'SEATBELT_DRIVER_LAMP', 'SEATBELT_DRIVER_LATCHED',
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'BRAKE_PRESSED', 'BRAKE_SWITCH',
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'CRUISE_BUTTONS',
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'ESP_DISABLED',
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'HUD_LEAD',
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'USER_BRAKE',
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'STEER_STATUS',
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'GEAR_SHIFTER',
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'PEDAL_GAS',
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'CRUISE_SETTING',
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'ACC_STATUS',
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'CRUISE_SPEED_PCM',
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'CRUISE_SPEED_OFFSET',
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'DOOR_OPEN_FL', 'DOOR_OPEN_FR', 'DOOR_OPEN_RL', 'DOOR_OPEN_RR',
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'CAR_GAS',
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'MAIN_ON',
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'EPB_STATE',
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'BRAKE_HOLD_ACTIVE',
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'INTERCEPTOR_GAS',
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'INTERCEPTOR_GAS2',
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'IMPERIAL_UNIT',
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'MOTOR_TORQUE',
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])
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vls = vls_tuple(
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self.speed_sensor(speed),
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self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
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self.angle_steer, self.angle_steer_rate, 0, 0, # Steer torque sensor
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0, 0, # Blinkers
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self.gear_choice,
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speed != 0,
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self.brake_error, self.brake_error,
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not self.seatbelt, self.seatbelt, # Seatbelt
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self.brake_pressed, 0., # Brake pressed, Brake switch
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cruise_buttons,
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self.esp_disabled,
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0, # HUD lead
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self.user_brake,
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self.steer_error,
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self.gear_shifter,
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self.pedal_gas,
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self.cruise_setting,
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self.acc_status,
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self.v_cruise,
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0, # Cruise speed offset
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0, 0, 0, 0, # Doors
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self.user_gas,
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self.main_on,
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0, # EPB State
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0, # Brake hold
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0, # Interceptor feedback
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0, # Interceptor 2 feedback
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False,
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0,
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)
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# TODO: publish each message at proper frequency
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can_msgs = []
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for msg in set(msgs):
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msg_struct = {}
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indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
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for i in indxs:
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msg_struct[sgs[i]] = getattr(vls, sgs[i])
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if "COUNTER" in honda.get_signals(msg):
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msg_struct["COUNTER"] = self.frame % 4
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if "COUNTER_PEDAL" in honda.get_signals(msg):
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msg_struct["COUNTER_PEDAL"] = self.frame % 0xf
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msg = honda.lookup_msg_id(msg)
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msg_data = honda.encode(msg, msg_struct)
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if "CHECKSUM" in honda.get_signals(msg):
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msg_data = fix(msg_data, msg)
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if "CHECKSUM_PEDAL" in honda.get_signals(msg):
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msg_struct["CHECKSUM_PEDAL"] = crc8_pedal(msg_data[:-1])
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msg_data = honda.encode(msg, msg_struct)
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can_msgs.append([msg, 0, msg_data, 0])
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# add the radar message
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# TODO: use the DBC
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if self.frame % 5 == 0:
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radar_state_msg = b'\x79\x00\x00\x00\x00\x00\x00\x00'
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radar_msg = to_3_byte(d_rel * 16.0) + \
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to_3_byte(int(lateral_pos_rel * 16.0) & 0x3ff) + \
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to_3s_byte(int(v_rel * 32.0)) + \
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b"0f00000"
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radar_msg = binascii.unhexlify(radar_msg)
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can_msgs.append([0x400, 0, radar_state_msg, 1])
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can_msgs.append([0x445, 0, radar_msg, 1])
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# add camera msg so controlsd thinks it's alive
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msg_struct["COUNTER"] = self.frame % 4
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msg = honda.lookup_msg_id(0xe4)
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msg_data = honda.encode(msg, msg_struct)
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msg_data = fix(msg_data, 0xe4)
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can_msgs.append([0xe4, 0, msg_data, 2])
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# Fake sockets that controlsd subscribes to
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live_parameters = messaging.new_message('liveParameters')
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live_parameters.liveParameters.valid = True
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live_parameters.liveParameters.sensorValid = True
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live_parameters.liveParameters.posenetValid = True
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live_parameters.liveParameters.steerRatio = CP.steerRatio
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live_parameters.liveParameters.stiffnessFactor = 1.0
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Plant.live_params.send(live_parameters.to_bytes())
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dmon_state = messaging.new_message('dMonitoringState')
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dmon_state.dMonitoringState.isDistracted = False
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Plant.dMonitoringState.send(dmon_state.to_bytes())
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health = messaging.new_message('health')
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health.health.safetyModel = car.CarParams.SafetyModel.hondaNidec
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health.health.controlsAllowed = True
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Plant.health.send(health.to_bytes())
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thermal = messaging.new_message('thermal')
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thermal.thermal.freeSpace = 1.
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thermal.thermal.batteryPercent = 100
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Plant.thermal.send(thermal.to_bytes())
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live_location_kalman = messaging.new_message('liveLocationKalman')
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live_location_kalman.liveLocationKalman.inputsOK = True
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live_location_kalman.liveLocationKalman.gpsOK = True
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Plant.live_location_kalman.send(live_location_kalman.to_bytes())
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# ******** publish a fake model going straight and fake calibration ********
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# note that this is worst case for MPC, since model will delay long mpc by one time step
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if publish_model and self.frame % 5 == 0:
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md = messaging.new_message('model')
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cal = messaging.new_message('liveCalibration')
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fp = messaging.new_message('frontFrame')
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md.model.frameId = 0
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for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
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x.points = [0.0]*50
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x.prob = 1.0
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x.std = 1.0
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if self.lead_relevancy:
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d_rel = np.maximum(0., distance_lead - distance)
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v_rel = v_lead - speed
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prob = 1.0
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else:
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d_rel = 200.
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v_rel = 0.
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prob = 0.0
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md.model.lead.dist = float(d_rel)
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md.model.lead.prob = prob
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md.model.lead.relY = 0.0
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md.model.lead.relYStd = 1.
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md.model.lead.relVel = float(v_rel)
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md.model.lead.relVelStd = 1.
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md.model.lead.relA = 0.0
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md.model.lead.relAStd = 10.
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md.model.lead.std = 1.0
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cal.liveCalibration.calStatus = 1
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cal.liveCalibration.calPerc = 100
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cal.liveCalibration.rpyCalib = [0.] * 3
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# fake values?
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Plant.model.send(md.to_bytes())
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Plant.cal.send(cal.to_bytes())
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Plant.front_frame.send(fp.to_bytes())
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Plant.logcan.send(can_list_to_can_capnp(can_msgs))
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# ******** update prevs ********
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self.frame += 1
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if self.response_seen:
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self.rk.monitor_time()
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self.speed = speed
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self.distance = distance
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self.distance_lead = distance_lead
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self.speed_prev = speed
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self.distance_prev = distance
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self.distance_lead_prev = distance_lead
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else:
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# Don't advance time when controlsd is not yet ready
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self.rk.keep_time()
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self.rk._frame = 0
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return {
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"distance": distance,
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"speed": speed,
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"acceleration": acceleration,
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"distance_lead": distance_lead,
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"brake": brake,
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"gas": gas,
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"steer_torque": steer_torque,
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"fcw": fcw,
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"controls_state_msgs": controls_state_msgs,
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}
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# simple engage in standalone mode
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def plant_thread(rate=100):
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plant = Plant(rate)
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while 1:
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plant.step()
|
|
|
|
if __name__ == "__main__":
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|
plant_thread()
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|
|