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90 lines
2.7 KiB
90 lines
2.7 KiB
#!/usr/bin/env python3
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import math
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from cereal import car
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from common.conversions import Conversions as CV
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from system.swaglog import cloudlog
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import cereal.messaging as messaging
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from selfdrive.car import gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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# mocked car interface to work with chffrplus
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TS = 0.01 # 100Hz
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YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
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# low pass gain
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LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
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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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cloudlog.debug("Using Mock Car Interface")
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self.sensor = messaging.sub_sock('sensorEvents')
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self.gps = messaging.sub_sock('gpsLocationExternal')
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self.speed = 0.
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self.prev_speed = 0.
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self.yaw_rate = 0.
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self.yaw_rate_meas = 0.
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@staticmethod
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def compute_gb(accel, speed):
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return accel
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "mock"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
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ret.mass = 1700.
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ret.rotationalInertia = 2500.
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ret.wheelbase = 2.70
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13. # reasonable
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ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
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ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
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return ret
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# returns a car.CarState
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def _update(self, c):
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# get basic data from phone and gps since CAN isn't connected
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sensors = messaging.recv_sock(self.sensor)
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if sensors is not None:
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for sensor in sensors.sensorEvents:
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if sensor.type == 4: # gyro
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self.yaw_rate_meas = -sensor.gyro.v[0]
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gps = messaging.recv_sock(self.gps)
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if gps is not None:
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self.prev_speed = self.speed
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self.speed = gps.gpsLocationExternal.speed
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# create message
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ret = car.CarState.new_message()
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# speeds
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ret.vEgo = self.speed
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ret.vEgoRaw = self.speed
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a = self.speed - self.prev_speed
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ret.aEgo = a
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ret.brakePressed = a < -0.5
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ret.standstill = self.speed < 0.01
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ret.wheelSpeeds.fl = self.speed
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ret.wheelSpeeds.fr = self.speed
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ret.wheelSpeeds.rl = self.speed
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ret.wheelSpeeds.rr = self.speed
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self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
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curvature = self.yaw_rate / max(self.speed, 1.)
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ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
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return ret
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def apply(self, c):
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# in mock no carcontrols
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actuators = car.CarControl.Actuators.new_message()
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return actuators, []
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