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273 lines
9.6 KiB
273 lines
9.6 KiB
import os
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import time
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from abc import abstractmethod, ABC
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from typing import Dict, Tuple, List
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from cereal import car
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from common.kalman.simple_kalman import KF1D
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from common.realtime import DT_CTRL
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from selfdrive.car import gen_empty_fingerprint
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
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from selfdrive.controls.lib.events import Events
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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GearShifter = car.CarState.GearShifter
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EventName = car.CarEvent.EventName
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MAX_CTRL_SPEED = (V_CRUISE_MAX + 4) * CV.KPH_TO_MS
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ACCEL_MAX = 2.0
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ACCEL_MIN = -3.5
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# generic car and radar interfaces
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class CarInterfaceBase(ABC):
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def __init__(self, CP, CarController, CarState):
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self.CP = CP
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self.VM = VehicleModel(CP)
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self.frame = 0
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self.steering_unpressed = 0
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self.low_speed_alert = False
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self.silent_steer_warning = True
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if CarState is not None:
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self.CS = CarState(CP)
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self.cp = self.CS.get_can_parser(CP)
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self.cp_cam = self.CS.get_cam_can_parser(CP)
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self.cp_body = self.CS.get_body_can_parser(CP)
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self.cp_loopback = self.CS.get_loopback_can_parser(CP)
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self.CC = None
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if CarController is not None:
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self.CC = CarController(self.cp.dbc_name, CP, self.VM)
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@staticmethod
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def get_pid_accel_limits(CP, current_speed, cruise_speed):
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return ACCEL_MIN, ACCEL_MAX
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@staticmethod
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@abstractmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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pass
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@staticmethod
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def init(CP, logcan, sendcan):
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pass
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@staticmethod
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def get_steer_feedforward_default(desired_angle, v_ego):
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# Proportional to realigning tire momentum: lateral acceleration.
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# TODO: something with lateralPlan.curvatureRates
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return desired_angle * (v_ego**2)
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@classmethod
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def get_steer_feedforward_function(cls):
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return cls.get_steer_feedforward_default
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# returns a set of default params to avoid repetition in car specific params
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@staticmethod
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def get_std_params(candidate, fingerprint):
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ret = car.CarParams.new_message()
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ret.carFingerprint = candidate
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ret.unsafeMode = 0 # see panda/board/safety_declarations.h for allowed values
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# standard ALC params
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ret.steerControlType = car.CarParams.SteerControlType.torque
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ret.steerMaxBP = [0.]
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ret.steerMaxV = [1.]
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ret.minSteerSpeed = 0.
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ret.wheelSpeedFactor = 1.0
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ret.pcmCruise = True # openpilot's state is tied to the PCM's cruise state on most cars
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ret.minEnableSpeed = -1. # enable is done by stock ACC, so ignore this
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ret.steerRatioRear = 0. # no rear steering, at least on the listed cars aboveA
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ret.openpilotLongitudinalControl = False
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ret.stopAccel = -2.0
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ret.stoppingDecelRate = 0.8 # brake_travel/s while trying to stop
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ret.vEgoStopping = 0.5
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ret.vEgoStarting = 0.5 # needs to be >= vEgoStopping to avoid state transition oscillation
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ret.stoppingControl = True
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kf = 1.
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [1.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [1.]
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# TODO estimate car specific lag, use .15s for now
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ret.longitudinalActuatorDelayLowerBound = 0.15
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ret.longitudinalActuatorDelayUpperBound = 0.15
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ret.steerLimitTimer = 1.0
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return ret
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@abstractmethod
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def update(self, c: car.CarControl, can_strings: List[bytes]) -> car.CarState:
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pass
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@abstractmethod
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def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
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pass
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def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
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events = Events()
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if cs_out.doorOpen:
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events.add(EventName.doorOpen)
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if cs_out.seatbeltUnlatched:
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events.add(EventName.seatbeltNotLatched)
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if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
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cs_out.gearShifter not in extra_gears):
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events.add(EventName.wrongGear)
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if cs_out.gearShifter == GearShifter.reverse:
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events.add(EventName.reverseGear)
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if not cs_out.cruiseState.available:
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events.add(EventName.wrongCarMode)
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if cs_out.espDisabled:
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events.add(EventName.espDisabled)
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if cs_out.gasPressed:
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events.add(EventName.gasPressed)
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if cs_out.stockFcw:
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events.add(EventName.stockFcw)
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if cs_out.stockAeb:
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events.add(EventName.stockAeb)
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if cs_out.vEgo > MAX_CTRL_SPEED:
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events.add(EventName.speedTooHigh)
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if cs_out.cruiseState.nonAdaptive:
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events.add(EventName.wrongCruiseMode)
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if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
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events.add(EventName.brakeHold)
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# Handle permanent and temporary steering faults
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self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
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if cs_out.steerWarning:
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# if the user overrode recently, show a less harsh alert
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if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
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self.silent_steer_warning = True
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events.add(EventName.steerTempUnavailableSilent)
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else:
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events.add(EventName.steerTempUnavailable)
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else:
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self.silent_steer_warning = False
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if cs_out.steerError:
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events.add(EventName.steerUnavailable)
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# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
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if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
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(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
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events.add(EventName.pedalPressed)
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# we engage when pcm is active (rising edge)
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if pcm_enable:
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if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
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events.add(EventName.pcmEnable)
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elif not cs_out.cruiseState.enabled:
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events.add(EventName.pcmDisable)
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return events
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class RadarInterfaceBase(ABC):
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def __init__(self, CP):
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self.pts = {}
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self.delay = 0
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self.radar_ts = CP.radarTimeStep
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self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ
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def update(self, can_strings):
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ret = car.RadarData.new_message()
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if not self.no_radar_sleep:
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time.sleep(self.radar_ts) # radard runs on RI updates
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return ret
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class CarStateBase(ABC):
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def __init__(self, CP):
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self.CP = CP
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self.car_fingerprint = CP.carFingerprint
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self.out = car.CarState.new_message()
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self.cruise_buttons = 0
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self.left_blinker_cnt = 0
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self.right_blinker_cnt = 0
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self.left_blinker_prev = False
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self.right_blinker_prev = False
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
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A=[[1.0, DT_CTRL], [0.0, 1.0]],
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C=[1.0, 0.0],
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K=[[0.12287673], [0.29666309]])
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def update_speed_kf(self, v_ego_raw):
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if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[v_ego_raw], [0.0]]
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v_ego_x = self.v_ego_kf.update(v_ego_raw)
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return float(v_ego_x[0]), float(v_ego_x[1])
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def get_wheel_speeds(self, fl, fr, rl, rr, unit=CV.KPH_TO_MS):
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factor = unit * self.CP.wheelSpeedFactor
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wheelSpeeds = car.CarState.WheelSpeeds.new_message()
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wheelSpeeds.fl = fl * factor
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wheelSpeeds.fr = fr * factor
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wheelSpeeds.rl = rl * factor
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wheelSpeeds.rr = rr * factor
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return wheelSpeeds
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def update_blinker_from_lamp(self, blinker_time: int, left_blinker_lamp: bool, right_blinker_lamp: bool):
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"""Update blinkers from lights. Enable output when light was seen within the last `blinker_time`
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iterations"""
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# TODO: Handle case when switching direction. Now both blinkers can be on at the same time
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self.left_blinker_cnt = blinker_time if left_blinker_lamp else max(self.left_blinker_cnt - 1, 0)
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self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
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return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
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def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
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"""Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
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or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
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is forced to the other side. On a rising edge of the stalk the timeout is reset."""
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if left_blinker_stalk:
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self.right_blinker_cnt = 0
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if not self.left_blinker_prev:
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self.left_blinker_cnt = blinker_time
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if right_blinker_stalk:
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self.left_blinker_cnt = 0
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if not self.right_blinker_prev:
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self.right_blinker_cnt = blinker_time
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self.left_blinker_cnt = max(self.left_blinker_cnt - 1, 0)
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self.right_blinker_cnt = max(self.right_blinker_cnt - 1, 0)
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self.left_blinker_prev = left_blinker_stalk
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self.right_blinker_prev = right_blinker_stalk
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return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
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@staticmethod
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def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
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d: Dict[str, car.CarState.GearShifter] = {
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'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
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'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
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'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
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}
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return d.get(gear, GearShifter.unknown)
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@staticmethod
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def get_cam_can_parser(CP):
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return None
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@staticmethod
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def get_body_can_parser(CP):
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return None
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@staticmethod
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def get_loopback_can_parser(CP):
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return None
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