You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
180 lines
6.4 KiB
180 lines
6.4 KiB
#!/usr/bin/env python3
|
|
from cereal import car
|
|
from selfdrive.swaglog import cloudlog
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
|
|
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
|
from selfdrive.car.ford.carstate import CarState, get_can_parser
|
|
from selfdrive.car.ford.values import MAX_ANGLE, ECU, ECU_FINGERPRINT, FINGERPRINTS
|
|
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
def __init__(self, CP, CarController):
|
|
self.CP = CP
|
|
self.VM = VehicleModel(CP)
|
|
|
|
self.frame = 0
|
|
self.gas_pressed_prev = False
|
|
self.brake_pressed_prev = False
|
|
self.cruise_enabled_prev = False
|
|
|
|
# *** init the major players ***
|
|
self.CS = CarState(CP)
|
|
|
|
self.cp = get_can_parser(CP)
|
|
|
|
self.CC = None
|
|
if CarController is not None:
|
|
self.CC = CarController(self.cp.dbc_name, CP.enableCamera, self.VM)
|
|
|
|
@staticmethod
|
|
def compute_gb(accel, speed):
|
|
return float(accel) / 3.0
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
|
|
|
ret = car.CarParams.new_message()
|
|
|
|
ret.carName = "ford"
|
|
ret.carFingerprint = candidate
|
|
ret.isPandaBlack = has_relay
|
|
|
|
ret.safetyModel = car.CarParams.SafetyModel.ford
|
|
ret.dashcamOnly = True
|
|
|
|
# pedal
|
|
ret.enableCruise = True
|
|
|
|
ret.wheelbase = 2.85
|
|
ret.steerRatio = 14.8
|
|
ret.mass = 3045. * CV.LB_TO_KG + STD_CARGO_KG
|
|
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
|
|
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01], [0.005]] # TODO: tune this
|
|
ret.lateralTuning.pid.kf = 1. / MAX_ANGLE # MAX Steer angle to normalize FF
|
|
ret.steerActuatorDelay = 0.1 # Default delay, not measured yet
|
|
ret.steerLimitTimer = 0.8
|
|
ret.steerRateCost = 1.0
|
|
ret.centerToFront = ret.wheelbase * 0.44
|
|
tire_stiffness_factor = 0.5328
|
|
|
|
# min speed to enable ACC. if car can do stop and go, then set enabling speed
|
|
# to a negative value, so it won't matter.
|
|
ret.minEnableSpeed = -1.
|
|
|
|
# TODO: get actual value, for now starting with reasonable value for
|
|
# civic and scaling by mass and wheelbase
|
|
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
|
|
|
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
|
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
|
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
|
tire_stiffness_factor=tire_stiffness_factor)
|
|
|
|
# no rear steering, at least on the listed cars above
|
|
ret.steerRatioRear = 0.
|
|
ret.steerControlType = car.CarParams.SteerControlType.angle
|
|
|
|
# steer, gas, brake limitations VS speed
|
|
ret.steerMaxBP = [0.] # breakpoints at 1 and 40 kph
|
|
ret.steerMaxV = [1.0] # 2/3rd torque allowed above 45 kph
|
|
ret.gasMaxBP = [0.]
|
|
ret.gasMaxV = [0.5]
|
|
ret.brakeMaxBP = [5., 20.]
|
|
ret.brakeMaxV = [1., 0.8]
|
|
|
|
ret.enableCamera = is_ecu_disconnected(fingerprint[0], FINGERPRINTS, ECU_FINGERPRINT, candidate, ECU.CAM) or has_relay
|
|
ret.openpilotLongitudinalControl = False
|
|
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
|
|
|
|
ret.stoppingControl = False
|
|
ret.startAccel = 0.0
|
|
|
|
ret.longitudinalTuning.deadzoneBP = [0., 9.]
|
|
ret.longitudinalTuning.deadzoneV = [0., .15]
|
|
ret.longitudinalTuning.kpBP = [0., 5., 35.]
|
|
ret.longitudinalTuning.kpV = [3.6, 2.4, 1.5]
|
|
ret.longitudinalTuning.kiBP = [0., 35.]
|
|
ret.longitudinalTuning.kiV = [0.54, 0.36]
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
# ******************* do can recv *******************
|
|
self.cp.update_strings(can_strings)
|
|
|
|
self.CS.update(self.cp)
|
|
|
|
# create message
|
|
ret = car.CarState.new_message()
|
|
|
|
ret.canValid = self.cp.can_valid
|
|
|
|
# speeds
|
|
ret.vEgo = self.CS.v_ego
|
|
ret.vEgoRaw = self.CS.v_ego_raw
|
|
ret.standstill = self.CS.standstill
|
|
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
|
|
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
|
|
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
|
|
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
|
|
|
|
# steering wheel
|
|
ret.steeringAngle = self.CS.angle_steers
|
|
ret.steeringPressed = self.CS.steer_override
|
|
|
|
# gas pedal
|
|
ret.gas = self.CS.user_gas / 100.
|
|
ret.gasPressed = self.CS.user_gas > 0.0001
|
|
ret.brakePressed = self.CS.brake_pressed
|
|
ret.brakeLights = self.CS.brake_lights
|
|
|
|
ret.cruiseState.enabled = not (self.CS.pcm_acc_status in [0, 3])
|
|
ret.cruiseState.speed = self.CS.v_cruise_pcm
|
|
ret.cruiseState.available = self.CS.pcm_acc_status != 0
|
|
|
|
ret.genericToggle = self.CS.generic_toggle
|
|
|
|
# events
|
|
events = []
|
|
|
|
if self.CS.steer_error:
|
|
events.append(create_event('steerUnavailable', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE, ET.PERMANENT]))
|
|
|
|
# enable request in prius is simple, as we activate when Toyota is active (rising edge)
|
|
if ret.cruiseState.enabled and not self.cruise_enabled_prev:
|
|
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
|
elif not ret.cruiseState.enabled:
|
|
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
|
|
|
# disable on pedals rising edge or when brake is pressed and speed isn't zero
|
|
if (ret.gasPressed and not self.gas_pressed_prev) or \
|
|
(ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
|
|
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
|
|
|
if ret.gasPressed:
|
|
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
|
|
|
if self.CS.lkas_state not in [2, 3] and ret.vEgo > 13.* CV.MPH_TO_MS and ret.cruiseState.enabled:
|
|
events.append(create_event('steerTempUnavailableMute', [ET.WARNING]))
|
|
|
|
ret.events = events
|
|
|
|
self.gas_pressed_prev = ret.gasPressed
|
|
self.brake_pressed_prev = ret.brakePressed
|
|
self.cruise_enabled_prev = ret.cruiseState.enabled
|
|
|
|
return ret.as_reader()
|
|
|
|
# pass in a car.CarControl
|
|
# to be called @ 100hz
|
|
def apply(self, c):
|
|
|
|
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
|
c.hudControl.visualAlert, c.cruiseControl.cancel)
|
|
|
|
self.frame += 1
|
|
return can_sends
|
|
|