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144 lines
5.1 KiB
144 lines
5.1 KiB
from selfdrive.can.parser import CANParser
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from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
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from common.kalman.simple_kalman import KF1D
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import numpy as np
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def parse_gear_shifter(can_gear):
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if can_gear == 0x1:
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return "park"
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elif can_gear == 0x2:
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return "reverse"
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elif can_gear == 0x3:
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return "neutral"
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elif can_gear == 0x4:
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return "drive"
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elif can_gear == 0x5:
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return "low"
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return "unknown"
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def get_can_parser(CP):
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signals = [
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# sig_name, sig_address, default
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("PRNDL", "GEAR", 0),
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("DOOR_OPEN_FL", "DOORS", 0),
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("DOOR_OPEN_FR", "DOORS", 0),
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("DOOR_OPEN_RL", "DOORS", 0),
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("DOOR_OPEN_RR", "DOORS", 0),
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("BRAKE_PRESSED_2", "BRAKE_2", 0),
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("ACCEL_PEDAL", "ACCEL_PEDAL_MSG", 0),
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("SPEED_LEFT", "SPEED_1", 0),
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("SPEED_RIGHT", "SPEED_1", 0),
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("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
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("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
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("STEER_ANGLE", "STEERING", 0),
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("STEERING_RATE", "STEERING", 0),
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("TURN_SIGNALS", "STEERING_LEVERS", 0),
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("ACC_STATUS_2", "ACC_2", 0),
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("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
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("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
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("TORQUE_DRIVER", "EPS_STATUS", 0),
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("TORQUE_MOTOR", "EPS_STATUS", 0),
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("LKAS_STATE", "EPS_STATUS", 1),
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("COUNTER", "EPS_STATUS", -1),
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("TRACTION_OFF", "TRACTION_BUTTON", 0),
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("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
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("COUNTER", "WHEEL_BUTTONS", -1), # incrementing counter for 23b
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]
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# It's considered invalid if it is not received for 10x the expected period (1/f).
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checks = [
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# sig_address, frequency
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("BRAKE_2", 50),
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("EPS_STATUS", 100),
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("SPEED_1", 100),
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("WHEEL_SPEEDS", 50),
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("STEERING", 100),
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("ACC_2", 50),
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]
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return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
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class CarState(object):
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def __init__(self, CP):
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self.CP = CP
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self.left_blinker_on = 0
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self.right_blinker_on = 0
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# initialize can parser
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self.car_fingerprint = CP.carFingerprint
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# vEgo kalman filter
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dt = 0.01
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
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A=np.matrix([[1.0, dt], [0.0, 1.0]]),
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C=np.matrix([1.0, 0.0]),
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K=np.matrix([[0.12287673], [0.29666309]]))
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self.v_ego = 0.0
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def update(self, cp):
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# copy can_valid
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self.can_valid = cp.can_valid
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# update prevs, update must run once per loop
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self.prev_left_blinker_on = self.left_blinker_on
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self.prev_right_blinker_on = self.right_blinker_on
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self.frame_23b = int(cp.vl["WHEEL_BUTTONS"]['COUNTER'])
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self.frame = int(cp.vl["EPS_STATUS"]['COUNTER'])
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self.door_all_closed = not any([cp.vl["DOORS"]['DOOR_OPEN_FL'],
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cp.vl["DOORS"]['DOOR_OPEN_FR'],
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cp.vl["DOORS"]['DOOR_OPEN_RL'],
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cp.vl["DOORS"]['DOOR_OPEN_RR']])
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self.seatbelt = (cp.vl["SEATBELT_STATUS"]['SEATBELT_DRIVER_UNLATCHED'] == 0)
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self.brake_pressed = cp.vl["BRAKE_2"]['BRAKE_PRESSED_2'] == 5 # human-only
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self.pedal_gas = cp.vl["ACCEL_PEDAL_MSG"]['ACCEL_PEDAL']
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self.car_gas = self.pedal_gas
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self.esp_disabled = (cp.vl["TRACTION_BUTTON"]['TRACTION_OFF'] == 1)
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self.v_wheel_fl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FL']
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self.v_wheel_rr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RR']
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self.v_wheel_rl = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_RL']
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self.v_wheel_fr = cp.vl['WHEEL_SPEEDS']['WHEEL_SPEED_FR']
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self.v_wheel = (cp.vl['SPEED_1']['SPEED_LEFT'] + cp.vl['SPEED_1']['SPEED_RIGHT']) / 2.
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# Kalman filter
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if abs(self.v_wheel - self.v_ego) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_x = np.matrix([[self.v_wheel], [0.0]])
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self.v_ego_raw = self.v_wheel
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v_ego_x = self.v_ego_kf.update(self.v_wheel)
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self.v_ego = float(v_ego_x[0])
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self.a_ego = float(v_ego_x[1])
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self.standstill = not self.v_wheel > 0.001
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self.angle_steers = cp.vl["STEERING"]['STEER_ANGLE']
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self.angle_steers_rate = cp.vl["STEERING"]['STEERING_RATE']
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self.gear_shifter = parse_gear_shifter(cp.vl['GEAR']['PRNDL'])
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self.main_on = cp.vl["ACC_2"]['ACC_STATUS_2'] == 7 # ACC is green.
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self.left_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 1
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self.right_blinker_on = cp.vl["STEERING_LEVERS"]['TURN_SIGNALS'] == 2
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self.steer_torque_driver = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
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self.steer_torque_motor = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
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self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD
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steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
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self.steer_error = steer_state == 4 or (steer_state == 0 and self.v_ego > self.CP.minSteerSpeed)
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self.user_brake = 0
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self.brake_lights = self.brake_pressed
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self.v_cruise_pcm = cp.vl["DASHBOARD"]['ACC_SPEED_CONFIG_KPH']
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self.pcm_acc_status = self.main_on
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self.generic_toggle = bool(cp.vl["STEERING_LEVERS"]['HIGH_BEAM_FLASH'])
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