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85 lines
3.3 KiB
85 lines
3.3 KiB
#!/usr/bin/env python3
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from cereal import car
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from selfdrive.car.chrysler.values import CAR
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "chrysler"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
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# Speed conversion: 20, 45 mph
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ret.wheelbase = 3.089 # in meters for Pacifica Hybrid 2017
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ret.steerRatio = 16.2 # Pacifica Hybrid 2017
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ret.mass = 2242. + STD_CARGO_KG # kg curb weight Pacifica Hybrid 2017
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ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[9., 20.], [9., 20.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
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ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 0.7
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ret.steerLimitTimer = 0.4
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if candidate in (CAR.JEEP_CHEROKEE, CAR.JEEP_CHEROKEE_2019):
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ret.wheelbase = 2.91 # in meters
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ret.steerRatio = 12.7
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ret.steerActuatorDelay = 0.2 # in seconds
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ret.centerToFront = ret.wheelbase * 0.44
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ret.minSteerSpeed = 3.8 # m/s
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if candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
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# TODO allow 2019 cars to steer down to 13 m/s if already engaged.
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ret.minSteerSpeed = 17.5 # m/s 17 on the way up, 13 on the way down once engaged.
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# starting with reasonable value for civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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ret.enableBsm = 720 in fingerprint[0]
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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# ******************* do can recv *******************
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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# speeds
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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# events
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events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
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gas_resume_speed=2.)
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if ret.vEgo < self.CP.minSteerSpeed:
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events.add(car.CarEvent.EventName.belowSteerSpeed)
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ret.events = events.to_msg()
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# copy back carState packet to CS
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self.CS.out = ret.as_reader()
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return self.CS.out
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# pass in a car.CarControl
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# to be called @ 100hz
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def apply(self, c):
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if (self.CS.frame == -1):
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return [] # if we haven't seen a frame 220, then do not update.
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can_sends = self.CC.update(c.enabled, self.CS, c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
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return can_sends
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