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366 lines
14 KiB
366 lines
14 KiB
#!/usr/bin/env python
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from cereal import car
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from common.realtime import sec_since_boot
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
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SUPERCRUISE_CARS, AccState
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from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
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class CanBus(object):
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def __init__(self):
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self.powertrain = 0
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self.obstacle = 1
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self.chassis = 2
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self.sw_gmlan = 3
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class CarInterface(object):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.frame = 0
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self.gas_pressed_prev = False
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self.brake_pressed_prev = False
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self.can_invalid_count = 0
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self.acc_active_prev = 0
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# *** init the major players ***
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canbus = CanBus()
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self.CS = CarState(CP, canbus)
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self.VM = VehicleModel(CP)
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self.pt_cp = get_powertrain_can_parser(CP, canbus)
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self.ch_cp_dbc_name = DBC[CP.carFingerprint]['chassis']
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self.CC = None
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if CarController is not None:
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self.CC = CarController(canbus, CP.carFingerprint)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.0
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@staticmethod
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def get_params(candidate, fingerprint, vin=""):
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ret = car.CarParams.new_message()
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ret.carName = "gm"
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ret.carFingerprint = candidate
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ret.carVin = vin
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ret.enableCruise = False
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# Presence of a camera on the object bus is ok.
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# Have to go to read_only if ASCM is online (ACC-enabled cars),
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# or camera is on powertrain bus (LKA cars without ACC).
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ret.enableCamera = not any(x for x in STOCK_CONTROL_MSGS[candidate] if x in fingerprint)
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ret.openpilotLongitudinalControl = ret.enableCamera
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std_cargo = 136
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if candidate == CAR.VOLT:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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# kg of standard extra cargo to count for driver, gas, etc...
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ret.mass = 1607. + std_cargo
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.wheelbase = 2.69
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ret.steerRatio = 15.7
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # wild guess
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elif candidate == CAR.MALIBU:
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# supports stop and go, but initial engage must be above 18mph (which include conservatism)
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1496. + std_cargo
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.wheelbase = 2.83
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ret.steerRatio = 15.8
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # wild guess
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elif candidate == CAR.HOLDEN_ASTRA:
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# kg of standard extra cargo to count for driver, gas, etc...
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ret.mass = 1363. + std_cargo
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ret.wheelbase = 2.662
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# Remaining parameters copied from Volt for now
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ret.centerToFront = ret.wheelbase * 0.4
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.steerRatio = 15.7
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ret.steerRatioRear = 0.
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elif candidate == CAR.ACADIA:
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ret.minEnableSpeed = -1. # engage speed is decided by pcm
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ret.mass = 4353. * CV.LB_TO_KG + std_cargo
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.wheelbase = 2.86
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ret.steerRatio = 14.4 #end to end is 13.46
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4
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elif candidate == CAR.BUICK_REGAL:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 3779. * CV.LB_TO_KG + std_cargo # (3849+3708)/2
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.wheelbase = 2.83 #111.4 inches in meters
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ret.steerRatio = 14.4 # guess for tourx
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.4 # guess for tourx
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elif candidate == CAR.CADILLAC_ATS:
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ret.minEnableSpeed = 18 * CV.MPH_TO_MS
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ret.mass = 1601. + std_cargo
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ret.safetyModel = car.CarParams.SafetyModels.gm
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ret.wheelbase = 2.78
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ret.steerRatio = 15.3
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ret.steerRatioRear = 0.
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ret.centerToFront = ret.wheelbase * 0.49
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elif candidate == CAR.CADILLAC_CT6:
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# engage speed is decided by pcm
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ret.minEnableSpeed = -1.
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# kg of standard extra cargo to count for driver, gas, etc...
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ret.mass = 4016. * CV.LB_TO_KG + std_cargo
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ret.safetyModel = car.CarParams.SafetyModels.cadillac
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ret.wheelbase = 3.11
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ret.steerRatio = 14.6 # it's 16.3 without rear active steering
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ret.steerRatioRear = 0. # TODO: there is RAS on this car!
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ret.centerToFront = ret.wheelbase * 0.465
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# hardcoding honda civic 2016 touring params so they can be used to
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# scale unknown params for other cars
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mass_civic = 2923. * CV.LB_TO_KG + std_cargo
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wheelbase_civic = 2.70
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centerToFront_civic = wheelbase_civic * 0.4
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centerToRear_civic = wheelbase_civic - centerToFront_civic
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rotationalInertia_civic = 2500
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tireStiffnessFront_civic = 85400
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tireStiffnessRear_civic = 90000
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centerToRear = ret.wheelbase - ret.centerToFront
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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 = rotationalInertia_civic * \
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ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
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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 = tireStiffnessFront_civic * \
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ret.mass / mass_civic * \
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(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
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ret.tireStiffnessRear = tireStiffnessRear_civic * \
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ret.mass / mass_civic * \
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(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
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# same tuning for Volt and CT6 for now
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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 = [[0.2], [0.00]]
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ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [.5]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [1.]
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ret.longitudinalTuning.kpBP = [5., 35.]
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ret.longitudinalTuning.kpV = [2.4, 1.5]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.36]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.steerLimitAlert = True
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ret.stoppingControl = True
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ret.startAccel = 0.8
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ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
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ret.steerRateCost = 1.0
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ret.steerControlType = car.CarParams.SteerControlType.torque
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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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can_valid, _ = self.pt_cp.update(int(sec_since_boot() * 1e9), True)
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can_rcv_error = not can_valid
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self.CS.update(self.pt_cp)
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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.CS.v_ego
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ret.aEgo = self.CS.a_ego
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ret.vEgoRaw = self.CS.v_ego_raw
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ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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ret.standstill = self.CS.standstill
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ret.wheelSpeeds.fl = self.CS.v_wheel_fl
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ret.wheelSpeeds.fr = self.CS.v_wheel_fr
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ret.wheelSpeeds.rl = self.CS.v_wheel_rl
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ret.wheelSpeeds.rr = self.CS.v_wheel_rr
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# gas pedal information.
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ret.gas = self.CS.pedal_gas / 254.0
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ret.gasPressed = self.CS.user_gas_pressed
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# brake pedal
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ret.brake = self.CS.user_brake / 0xd0
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ret.brakePressed = self.CS.brake_pressed
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# steering wheel
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ret.steeringAngle = self.CS.angle_steers
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# torque and user override. Driver awareness
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# timer resets when the user uses the steering wheel.
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ret.steeringPressed = self.CS.steer_override
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ret.steeringTorque = self.CS.steer_torque_driver
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# cruise state
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ret.cruiseState.available = bool(self.CS.main_on)
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cruiseEnabled = self.CS.pcm_acc_status != AccState.OFF
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ret.cruiseState.enabled = cruiseEnabled
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ret.cruiseState.standstill = self.CS.pcm_acc_status == 4
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ret.leftBlinker = self.CS.left_blinker_on
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ret.rightBlinker = self.CS.right_blinker_on
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ret.doorOpen = not self.CS.door_all_closed
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ret.seatbeltUnlatched = not self.CS.seatbelt
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ret.gearShifter = self.CS.gear_shifter
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buttonEvents = []
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# blinkers
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if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'leftBlinker'
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be.pressed = self.CS.left_blinker_on
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buttonEvents.append(be)
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if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'rightBlinker'
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be.pressed = self.CS.right_blinker_on
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buttonEvents.append(be)
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if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
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be = car.CarState.ButtonEvent.new_message()
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be.type = 'unknown'
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if self.CS.cruise_buttons != CruiseButtons.UNPRESS:
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be.pressed = True
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but = self.CS.cruise_buttons
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else:
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be.pressed = False
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but = self.CS.prev_cruise_buttons
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if but == CruiseButtons.RES_ACCEL:
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if not (cruiseEnabled and self.CS.standstill):
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be.type = 'accelCruise' # Suppress resume button if we're resuming from stop so we don't adjust speed.
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elif but == CruiseButtons.DECEL_SET:
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be.type = 'decelCruise'
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elif but == CruiseButtons.CANCEL:
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be.type = 'cancel'
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elif but == CruiseButtons.MAIN:
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be.type = 'altButton3'
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buttonEvents.append(be)
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ret.buttonEvents = buttonEvents
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events = []
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if not self.CS.can_valid:
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self.can_invalid_count += 1
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else:
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self.can_invalid_count = 0
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if can_rcv_error or self.can_invalid_count >= 5:
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events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steer_error:
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events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
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if self.CS.steer_not_allowed:
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.car_fingerprint in SUPERCRUISE_CARS:
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if self.CS.acc_active and not self.acc_active_prev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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if not self.CS.acc_active:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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else:
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if self.CS.brake_error:
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events.append(create_event('brakeUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
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if not self.CS.gear_shifter_valid:
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.esp_disabled:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if not self.CS.main_on:
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events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if self.CS.gear_shifter == 3:
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if ret.vEgo < self.CP.minEnableSpeed:
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events.append(create_event('speedTooLow', [ET.NO_ENTRY]))
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if self.CS.park_brake:
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events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
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# disable on pedals rising edge or when brake is pressed and speed isn't zero
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if (ret.gasPressed and not self.gas_pressed_prev) or \
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(ret.brakePressed): # and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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if ret.cruiseState.standstill:
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events.append(create_event('resumeRequired', [ET.WARNING]))
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if self.CS.pcm_acc_status == AccState.FAULTED:
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events.append(create_event('controlsFailed', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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# handle button presses
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for b in ret.buttonEvents:
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# do enable on both accel and decel buttons
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if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
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events.append(create_event('buttonEnable', [ET.ENABLE]))
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# do disable on button down
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if b.type == "cancel" and b.pressed:
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events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
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ret.events = events
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# update previous brake/gas pressed
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self.acc_active_prev = self.CS.acc_active
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self.gas_pressed_prev = ret.gasPressed
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self.brake_pressed_prev = ret.brakePressed
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# cast to reader so it can't be modified
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return ret.as_reader()
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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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hud_v_cruise = c.hudControl.setSpeed
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if hud_v_cruise > 70:
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hud_v_cruise = 0
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chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
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# For Openpilot, "enabled" includes pre-enable.
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# In GM, PCM faults out if ACC command overlaps user gas.
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enabled = c.enabled and not self.CS.user_gas_pressed
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can_sends = self.CC.update(enabled, self.CS, self.frame, \
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c.actuators,
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hud_v_cruise, c.hudControl.lanesVisible, \
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c.hudControl.leadVisible, \
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chime, chime_count, c.hudControl.visualAlert)
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self.frame += 1
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return can_sends
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