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72 lines
2.7 KiB
72 lines
2.7 KiB
#!/usr/bin/env python3
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from cereal import car
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from common.conversions import Conversions as CV
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from selfdrive.car.ford.values import MAX_ANGLE
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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 = "ford"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.ford)]
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ret.dashcamOnly = True
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ret.wheelbase = 2.85
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ret.steerRatio = 14.8
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ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
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ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
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ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this
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ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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ret.steerLimitTimer = 1.0
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ret.steerRateCost = 1.0
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ret.centerToFront = ret.wheelbase * 0.44
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tire_stiffness_factor = 0.5328
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# TODO: add minSteerSpeed
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ret.minEnableSpeed = 12. * CV.MPH_TO_MS
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# TODO: get actual value, for now starting with reasonable value for
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# 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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tire_stiffness_factor=tire_stiffness_factor)
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ret.steerControlType = car.CarParams.SteerControlType.angle
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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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ret = self.CS.update(self.cp)
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ret.canValid = self.cp.can_valid
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# events
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events = self.create_common_events(ret)
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if self.CS.lkas_state not in (2, 3) and ret.vEgo > 13. * CV.MPH_TO_MS and ret.cruiseState.enabled:
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events.add(car.CarEvent.EventName.steerTempUnavailable)
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ret.events = events.to_msg()
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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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ret = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.hudControl.visualAlert, c.cruiseControl.cancel)
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self.frame += 1
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return ret
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