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547 lines
18 KiB
547 lines
18 KiB
#!/usr/bin/env python
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import gc
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import json
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import zmq
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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, set_realtime_priority, Ratekeeper
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from common.profiler import Profiler
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from common.params import Params
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import selfdrive.messaging as messaging
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from selfdrive.config import Conversions as CV
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from selfdrive.services import service_list
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from selfdrive.car.car_helpers import get_car
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from selfdrive.controls.lib.planner import Planner
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from selfdrive.controls.lib.drive_helpers import learn_angle_offset, \
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get_events, \
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create_event, \
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EventTypes as ET, \
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update_v_cruise, \
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initialize_v_cruise, \
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kill_defaultd
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from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
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from selfdrive.controls.lib.latcontrol import LatControl
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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.driver_monitor import DriverStatus
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ThermalStatus = log.ThermalData.ThermalStatus
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State = log.Live100Data.ControlState
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class Calibration:
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UNCALIBRATED = 0
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CALIBRATED = 1
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INVALID = 2
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# True when actuators are controlled
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def isActive(state):
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return state in [State.enabled, State.softDisabling]
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# True if system is engaged
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def isEnabled(state):
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return (isActive(state) or state == State.preEnabled)
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def data_sample(CI, CC, thermal, calibration, health, driver_monitor, gps_location,
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poller, cal_status, cal_perc, overtemp, free_space, low_battery,
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driver_status, geofence, state, mismatch_counter, params):
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# *** read can and compute car states ***
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CS = CI.update(CC)
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events = list(CS.events)
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enabled = isEnabled(state)
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td = None
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cal = None
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hh = None
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dm = None
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gps = None
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for socket, event in poller.poll(0):
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if socket is thermal:
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td = messaging.recv_one(socket)
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elif socket is calibration:
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cal = messaging.recv_one(socket)
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elif socket is health:
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hh = messaging.recv_one(socket)
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elif socket is driver_monitor:
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dm = messaging.recv_one(socket)
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elif socket is gps_location:
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gps = messaging.recv_one(socket)
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# *** thermal checking logic ***
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# thermal data, checked every second
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if td is not None:
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overtemp = td.thermal.thermalStatus >= ThermalStatus.red
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# under 15% of space free no enable allowed
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free_space = td.thermal.freeSpace < 0.15
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# at zero percent battery, OP should not be allowed
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low_battery = td.thermal.batteryPercent < 1
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if low_battery:
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events.append(create_event('lowBattery', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if overtemp:
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events.append(create_event('overheat', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if free_space:
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events.append(create_event('outOfSpace', [ET.NO_ENTRY]))
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# *** read calibration status ***
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if cal is not None:
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cal_status = cal.liveCalibration.calStatus
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cal_perc = cal.liveCalibration.calPerc
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if cal_status != Calibration.CALIBRATED:
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if cal_status == Calibration.UNCALIBRATED:
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events.append(create_event('calibrationIncomplete', [ET.NO_ENTRY, ET.SOFT_DISABLE, ET.PERMANENT]))
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else:
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events.append(create_event('calibrationInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not enabled:
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mismatch_counter = 0
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# *** health checking logic ***
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if hh is not None:
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controls_allowed = hh.health.controlsAllowed
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if not controls_allowed and enabled:
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mismatch_counter += 1
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if mismatch_counter >= 2:
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events.append(create_event('controlsMismatch', [ET.IMMEDIATE_DISABLE]))
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if dm is not None:
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driver_status.get_pose(dm.driverMonitoring, params)
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if geofence is not None and gps is not None:
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geofence.update_geofence_status(gps.gpsLocationExternal, params)
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if geofence is not None and not geofence.in_geofence:
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events.append(create_event('geofence', [ET.NO_ENTRY, ET.WARNING]))
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return CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter
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def calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence):
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# plan runs always, independently of the state
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force_decel = driver_status.awareness < 0. or (geofence is not None and not geofence.in_geofence)
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plan_packet = PL.update(CS, LaC, LoC, v_cruise_kph, force_decel)
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plan = plan_packet.plan
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plan_ts = plan_packet.logMonoTime
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# add events from planner
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events += list(plan.events)
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# disable if lead isn't close when system is active and brake is pressed to avoid
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# unexpected vehicle accelerations
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if CS.brakePressed and plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
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events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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return plan, plan_ts
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def state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM):
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# compute conditional state transitions and execute actions on state transitions
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enabled = isEnabled(state)
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v_cruise_kph_last = 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 CP.enableCruise:
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v_cruise_kph = update_v_cruise(v_cruise_kph, CS.buttonEvents, enabled)
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elif CP.enableCruise and CS.cruiseState.enabled:
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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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soft_disable_timer = max(0, soft_disable_timer - 1)
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# ***** handle state transitions *****
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# DISABLED
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if state == State.disabled:
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if get_events(events, [ET.ENABLE]):
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if get_events(events, [ET.NO_ENTRY]):
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for e in get_events(events, [ET.NO_ENTRY]):
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AM.add(str(e) + "NoEntry", enabled)
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else:
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if get_events(events, [ET.PRE_ENABLE]):
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state = State.preEnabled
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else:
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state = State.enabled
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AM.add("enable", enabled)
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v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, v_cruise_kph_last)
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# ENABLED
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elif state == State.enabled:
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if get_events(events, [ET.USER_DISABLE]):
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state = State.disabled
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AM.add("disable", enabled)
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elif get_events(events, [ET.IMMEDIATE_DISABLE]):
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state = State.disabled
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for e in get_events(events, [ET.IMMEDIATE_DISABLE]):
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AM.add(e, enabled)
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elif get_events(events, [ET.SOFT_DISABLE]):
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state = State.softDisabling
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soft_disable_timer = 300 # 3s TODO: use rate
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for e in get_events(events, [ET.SOFT_DISABLE]):
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AM.add(e, enabled)
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# SOFT DISABLING
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elif state == State.softDisabling:
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if get_events(events, [ET.USER_DISABLE]):
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state = State.disabled
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AM.add("disable", enabled)
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elif get_events(events, [ET.IMMEDIATE_DISABLE]):
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state = State.disabled
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for e in get_events(events, [ET.IMMEDIATE_DISABLE]):
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AM.add(e, enabled)
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elif not get_events(events, [ET.SOFT_DISABLE]):
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# no more soft disabling condition, so go back to ENABLED
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state = State.enabled
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elif soft_disable_timer <= 0:
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state = State.disabled
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# PRE ENABLING
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elif state == State.preEnabled:
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if get_events(events, [ET.USER_DISABLE]):
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state = State.disabled
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AM.add("disable", enabled)
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elif get_events(events, [ET.IMMEDIATE_DISABLE, ET.SOFT_DISABLE]):
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state = State.disabled
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for e in get_events(events, [ET.IMMEDIATE_DISABLE, ET.SOFT_DISABLE]):
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AM.add(e, enabled)
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elif not get_events(events, [ET.PRE_ENABLE]):
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state = State.enabled
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return state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last
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def state_control(plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
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driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc):
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# Given the state, this function returns the actuators
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# reset actuators to zero
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actuators = car.CarControl.Actuators.new_message()
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enabled = isEnabled(state)
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active = isActive(state)
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# check if user has interacted with the car
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driver_engaged = len(CS.buttonEvents) > 0 or \
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v_cruise_kph != v_cruise_kph_last or \
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CS.steeringPressed
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# add eventual driver distracted events
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events = driver_status.update(events, driver_engaged, isActive(state), CS.standstill)
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# send FCW alert if triggered by planner
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if plan.fcw:
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AM.add("fcw", enabled)
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# ***** state specific actions *****
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# DISABLED
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if state in [State.preEnabled, State.disabled]:
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LaC.reset()
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LoC.reset(v_pid=CS.vEgo)
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# ENABLED or SOFT_DISABLING
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elif state in [State.enabled, State.softDisabling]:
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# parse warnings from car specific interface
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for e in get_events(events, [ET.WARNING]):
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extra_text = ""
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if e == "belowSteerSpeed":
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if is_metric:
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extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_KPH))) + " kph"
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else:
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extra_text = str(int(round(CP.minSteerSpeed * CV.MS_TO_MPH))) + " mph"
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AM.add(e, enabled, extra_text_2=extra_text)
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# *** angle offset learning ***
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if rk.frame % 5 == 2 and plan.lateralValid:
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# *** run this at 20hz again ***
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angle_offset = learn_angle_offset(active, CS.vEgo, angle_offset,
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PL.PP.c_poly, PL.PP.c_prob, CS.steeringAngle,
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CS.steeringPressed)
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# *** gas/brake PID loop ***
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actuators.gas, actuators.brake = LoC.update(active, CS.vEgo, CS.brakePressed, CS.standstill, CS.cruiseState.standstill,
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v_cruise_kph, plan.vTarget, plan.vTargetFuture, plan.aTarget,
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CP, PL.lead_1)
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# *** steering PID loop ***
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actuators.steer, actuators.steerAngle = LaC.update(active, CS.vEgo, CS.steeringAngle,
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CS.steeringPressed, plan.dPoly, angle_offset, VM, PL)
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# send a "steering required alert" if saturation count has reached the limit
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if LaC.sat_flag and CP.steerLimitAlert:
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AM.add("steerSaturated", enabled)
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# parse permanent warnings to display constantly
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for e in get_events(events, [ET.PERMANENT]):
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extra_text_1, extra_text_2 = "", ""
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if e == "calibrationIncomplete":
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extra_text_1 = str(cal_perc) + "%"
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extra_text_2 = "35 kph" if is_metric else "15 mph"
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AM.add(str(e) + "Permanent", enabled, extra_text_1=extra_text_1, extra_text_2=extra_text_2)
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# *** process alerts ***
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AM.process_alerts(sec_since_boot())
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return actuators, v_cruise_kph, driver_status, angle_offset
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def data_send(perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate,
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carcontrol, live100, livempc, AM, driver_status,
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LaC, LoC, angle_offset, passive):
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# ***** control the car *****
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CC = car.CarControl.new_message()
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if not passive:
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CC.enabled = isEnabled(state)
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CC.actuators = actuators
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CC.cruiseControl.override = True
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# always cancel if we have an interceptor
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CC.cruiseControl.cancel = not CP.enableCruise or (not isEnabled(state) and CS.cruiseState.enabled)
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# brake discount removes a sharp nonlinearity
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brake_discount = (1.0 - clip(actuators.brake*3., 0.0, 1.0))
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CC.cruiseControl.speedOverride = float(max(0.0, (LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount) if CP.enableCruise else 0.0)
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CC.cruiseControl.accelOverride = CI.calc_accel_override(CS.aEgo, plan.aTarget, CS.vEgo, plan.vTarget)
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CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
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CC.hudControl.speedVisible = isEnabled(state)
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CC.hudControl.lanesVisible = isEnabled(state)
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CC.hudControl.leadVisible = plan.hasLead
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CC.hudControl.visualAlert = AM.visual_alert
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CC.hudControl.audibleAlert = AM.audible_alert
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# send car controls over can
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CI.apply(CC, perception_state)
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# ***** publish state to logger *****
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# publish controls state at 100Hz
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dat = messaging.new_message()
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dat.init('live100')
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dat.live100 = {
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"alertText1": AM.alert_text_1,
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"alertText2": AM.alert_text_2,
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"alertSize": AM.alert_size,
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"alertStatus": AM.alert_status,
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"alertBlinkingRate": AM.alert_rate,
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"alertType": AM.alert_type,
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"awarenessStatus": max(driver_status.awareness, 0.0) if isEnabled(state) else 0.0,
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"driverMonitoringOn": bool(driver_status.monitor_on),
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"canMonoTimes": list(CS.canMonoTimes),
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"planMonoTime": plan_ts,
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"enabled": isEnabled(state),
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"active": isActive(state),
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"vEgo": CS.vEgo,
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"vEgoRaw": CS.vEgoRaw,
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"angleSteers": CS.steeringAngle,
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"curvature": VM.calc_curvature(CS.steeringAngle * CV.DEG_TO_RAD, CS.vEgo),
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"steerOverride": CS.steeringPressed,
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"state": state,
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"engageable": not bool(get_events(events, [ET.NO_ENTRY])),
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"longControlState": LoC.long_control_state,
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"vPid": float(LoC.v_pid),
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"vCruise": float(v_cruise_kph),
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"upAccelCmd": float(LoC.pid.p),
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"uiAccelCmd": float(LoC.pid.i),
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"ufAccelCmd": float(LoC.pid.f),
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"angleSteersDes": float(LaC.angle_steers_des),
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"upSteer": float(LaC.pid.p),
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"uiSteer": float(LaC.pid.i),
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"ufSteer": float(LaC.pid.f),
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"vTargetLead": float(plan.vTarget),
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"aTarget": float(plan.aTarget),
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"jerkFactor": float(plan.jerkFactor),
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"angleOffset": float(angle_offset),
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"gpsPlannerActive": plan.gpsPlannerActive,
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"cumLagMs": -rk.remaining*1000.,
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}
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live100.send(dat.to_bytes())
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# broadcast carState
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cs_send = messaging.new_message()
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cs_send.init('carState')
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cs_send.carState = CS
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cs_send.carState.events = events
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carstate.send(cs_send.to_bytes())
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# broadcast carControl
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cc_send = messaging.new_message()
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cc_send.init('carControl')
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cc_send.carControl = CC
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carcontrol.send(cc_send.to_bytes())
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# publish mpc state at 20Hz
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if hasattr(LaC, 'mpc_updated') and LaC.mpc_updated:
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dat = messaging.new_message()
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dat.init('liveMpc')
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dat.liveMpc.x = list(LaC.mpc_solution[0].x)
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dat.liveMpc.y = list(LaC.mpc_solution[0].y)
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dat.liveMpc.psi = list(LaC.mpc_solution[0].psi)
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dat.liveMpc.delta = list(LaC.mpc_solution[0].delta)
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dat.liveMpc.cost = LaC.mpc_solution[0].cost
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livempc.send(dat.to_bytes())
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return CC
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def controlsd_thread(gctx=None, rate=100, default_bias=0.):
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gc.disable()
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# start the loop
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set_realtime_priority(3)
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context = zmq.Context()
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params = Params()
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# pub
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live100 = messaging.pub_sock(context, service_list['live100'].port)
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carstate = messaging.pub_sock(context, service_list['carState'].port)
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carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
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livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
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is_metric = params.get("IsMetric") == "1"
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passive = params.get("Passive") != "0"
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if not passive:
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while 1:
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try:
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sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
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break
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except zmq.error.ZMQError:
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kill_defaultd()
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else:
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sendcan = None
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# sub
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poller = zmq.Poller()
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thermal = messaging.sub_sock(context, service_list['thermal'].port, conflate=True, poller=poller)
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health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
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cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
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driver_monitor = messaging.sub_sock(context, service_list['driverMonitoring'].port, conflate=True, poller=poller)
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gps_location = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, conflate=True, poller=poller)
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logcan = messaging.sub_sock(context, service_list['can'].port)
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CC = car.CarControl.new_message()
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CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
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if CI is None:
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raise Exception("unsupported car")
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# if stock camera is connected, then force passive behavior
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if not CP.enableCamera:
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passive = True
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sendcan = None
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|
|
if passive:
|
|
CP.safetyModel = car.CarParams.SafetyModels.noOutput
|
|
|
|
fcw_enabled = params.get("IsFcwEnabled") == "1"
|
|
geofence = None
|
|
|
|
PL = Planner(CP, fcw_enabled)
|
|
LoC = LongControl(CP, CI.compute_gb)
|
|
VM = VehicleModel(CP)
|
|
LaC = LatControl(VM)
|
|
AM = AlertManager()
|
|
driver_status = DriverStatus()
|
|
|
|
if not passive:
|
|
AM.add("startup", False)
|
|
|
|
# write CarParams
|
|
params.put("CarParams", CP.to_bytes())
|
|
|
|
state = State.disabled
|
|
soft_disable_timer = 0
|
|
v_cruise_kph = 255
|
|
v_cruise_kph_last = 0
|
|
overtemp = False
|
|
free_space = False
|
|
cal_status = Calibration.INVALID
|
|
cal_perc = 0
|
|
mismatch_counter = 0
|
|
low_battery = False
|
|
|
|
rk = Ratekeeper(rate, print_delay_threshold=2./1000)
|
|
|
|
# learned angle offset
|
|
angle_offset = default_bias
|
|
calibration_params = params.get("CalibrationParams")
|
|
if calibration_params:
|
|
try:
|
|
calibration_params = json.loads(calibration_params)
|
|
angle_offset = calibration_params["angle_offset2"]
|
|
except (ValueError, KeyError):
|
|
pass
|
|
|
|
prof = Profiler(False) # off by default
|
|
|
|
while 1:
|
|
|
|
prof.checkpoint("Ratekeeper", ignore=True)
|
|
|
|
# sample data and compute car events
|
|
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(CI, CC, thermal, cal, health,
|
|
driver_monitor, gps_location, poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status, geofence, state, mismatch_counter, params)
|
|
prof.checkpoint("Sample")
|
|
|
|
# define plan
|
|
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, driver_status, geofence)
|
|
prof.checkpoint("Plan")
|
|
|
|
if not passive:
|
|
# update control state
|
|
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
|
|
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
|
|
prof.checkpoint("State transition")
|
|
|
|
# compute actuators
|
|
actuators, v_cruise_kph, driver_status, angle_offset = state_control(plan, CS, CP, state, events, v_cruise_kph,
|
|
v_cruise_kph_last, AM, rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
|
|
prof.checkpoint("State Control")
|
|
|
|
# publish data
|
|
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
|
|
live100, livempc, AM, driver_status, LaC, LoC, angle_offset, passive)
|
|
prof.checkpoint("Sent")
|
|
|
|
# *** run loop at fixed rate ***
|
|
rk.keep_time()
|
|
|
|
prof.display()
|
|
|
|
|
|
def main(gctx=None):
|
|
controlsd_thread(gctx, 100)
|
|
|
|
if __name__ == "__main__":
|
|
main()
|
|
|