class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.can_invalid_count = 0
self.acc_active_prev = 0
# *** init the major players ***
canbus = CanBus()
self.CS = CarState(CP, canbus)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP, canbus)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(canbus, CP.carFingerprint)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "subaru"
ret.carFingerprint = candidate
ret.enableCruise = False
# TODO: gate this on detection
ret.enableCamera = True
std_cargo = 136
if candidate in [CAR.OUTBACK, CAR.LEGACY]:
ret.mass = 1568 + std_cargo
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.5 + 1
ret.steerRatio = 14
ret.steerActuatorDelay = 0.3
ret.steerRateCost = 0
ret.steerKf = 0.00006
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]] # m/s
ret.steerKpV, ret.steerKiV = [[0.003], [0.00]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
elif candidate in [CAR.XV2018]:
ret.mass = 1568 + std_cargo
ret.wheelbase = 2.75
ret.centerToFront = ret.wheelbase * 0.5 + 1
ret.steerRatio = 7
ret.steerActuatorDelay = 0.1
ret.steerRateCost = 0
ret.steerKf = 0.00006
ret.steerKiBP, ret.steerKpBP = [[0.], [0.]]
ret.steerKpV, ret.steerKiV = [[0.0], [0.00]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.safetyModel = car.CarParams.SafetyModels.subaru
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerLimitAlert = False
# testing tuning
# FIXME: from gm
ret.gasMaxBP = [0.]
ret.gasMaxV = [.5]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [1.]
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.longitudinalKpBP = [5., 35.]
ret.longitudinalKpV = [2.4, 1.5]
ret.longitudinalKiBP = [0.]
ret.longitudinalKiV = [0.36]
ret.stoppingControl = True
ret.startAccel = 0.8
# end from gm
# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923. / 2.205 + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# 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 = tireStiffnessFront_civic * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = tireStiffnessRear_civic * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
return ret
# returns a car.CarState
def update(self, c):
self.pt_cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.pt_cp)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
# steering wheel
ret.steeringAngle = self.CS.angle_steers
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringTorque = self.CS.steer_torque_driver
# cruise state
ret.cruiseState.available = bool(self.CS.main_on)
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
be = car.CarState.ButtonEvent.new_message()
be.type = 'accelCruise'
buttonEvents.append(be)
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(
create_event('commIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type in ["accelCruise", "decelCruise"] and not b.pressed:
events.append(create_event('buttonEnable', [ET.ENABLE]))
# do disable on button down
if b.type == "cancel" and b.pressed:
events.append(create_event('buttonCancel', [ET.USER_DISABLE]))
ret.events = events
# update previous brake/gas pressed
self.acc_active_prev = self.CS.acc_active
# cast to reader so it can't be modified
return ret.as_reader()
def apply(self, c, perception_state):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame,
c.actuators)
self.frame += 1
class CarInterface(object):
def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.can_invalid_count = 0
self.acc_active_prev = 0
self.gas_pressed_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP)
self.cam_cp = get_camera_can_parser(CP)
self.gas_pressed_prev = False
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(CP.carFingerprint)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def calc_accel_override(a_ego, a_target, v_ego, v_target):
return 1.0
@staticmethod
def get_params(candidate, fingerprint):
ret = car.CarParams.new_message()
ret.carName = "subaru"
ret.carFingerprint = candidate
ret.safetyModel = car.CarParams.SafetyModels.subaru
ret.enableCruise = True
ret.steerLimitAlert = True
ret.enableCamera = True
std_cargo = 136
ret.steerRateCost = 0.7
if candidate in [CAR.IMPREZA]:
ret.mass = 1568 + std_cargo
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
tire_stiffness_factor = 1.0
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.steerKf = 0.00005
ret.steerKiBP, ret.steerKpBP = [[0., 20.], [0., 20.]]
ret.steerKpV, ret.steerKiV = [[0.2, 0.3], [0.02, 0.03]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerRatioRear = 0.
# testing tuning
# No long control in subaru
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longPidDeadzoneBP = [0.]
ret.longPidDeadzoneV = [0.]
ret.longitudinalKpBP = [0.]
ret.longitudinalKpV = [0.]
ret.longitudinalKiBP = [0.]
ret.longitudinalKiV = [0.]
# end from gm
# hardcoding honda civic 2016 touring params so they can be used to
# scale unknown params for other cars
mass_civic = 2923./2.205 + std_cargo
wheelbase_civic = 2.70
centerToFront_civic = wheelbase_civic * 0.4
centerToRear_civic = wheelbase_civic - centerToFront_civic
rotationalInertia_civic = 2500
tireStiffnessFront_civic = 192150
tireStiffnessRear_civic = 202500
centerToRear = ret.wheelbase - ret.centerToFront
# TODO: get actual value, for now starting with reasonable value for
# civic and scaling by mass and wheelbase
ret.rotationalInertia = rotationalInertia_civic * \
ret.mass * ret.wheelbase**2 / (mass_civic * wheelbase_civic**2)
# 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 = (tireStiffnessFront_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(centerToRear / ret.wheelbase) / (centerToRear_civic / wheelbase_civic)
ret.tireStiffnessRear = (tireStiffnessRear_civic * tire_stiffness_factor) * \
ret.mass / mass_civic * \
(ret.centerToFront / ret.wheelbase) / (centerToFront_civic / wheelbase_civic)
return ret
# returns a car.CarState
def update(self, c):
self.pt_cp.update(int(sec_since_boot() * 1e9), False)
self.cam_cp.update(int(sec_since_boot() * 1e9), False)
self.CS.update(self.pt_cp, self.cam_cp)
# create message
ret = car.CarState.new_message()
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD, self.CS.v_ego)
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
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
ret.gas = self.CS.pedal_gas / 255.
ret.gasPressed = self.CS.user_gas_pressed
# cruise state
ret.cruiseState.enabled = bool(self.CS.acc_active)
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.seatbeltUnlatched = self.CS.seatbelt_unlatched
ret.doorOpen = self.CS.door_open
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'leftBlinker'
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = 'rightBlinker'
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
be = car.CarState.ButtonEvent.new_message()
be.type = 'accelCruise'
buttonEvents.append(be)
events = []
if not self.CS.can_valid:
self.can_invalid_count += 1
if self.can_invalid_count >= 5:
events.append(create_event('commIssue', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
else:
self.can_invalid_count = 0
if ret.seatbeltUnlatched:
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on gas pedal rising edge
if (ret.gasPressed and not self.gas_pressed_prev):
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
# update previous brake/gas pressed
self.gas_pressed_prev = ret.gasPressed
self.acc_active_prev = self.CS.acc_active
# cast to reader so it can't be modified
return ret.as_reader()
def apply(self, c):
self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, c.actuators,
c.cruiseControl.cancel, c.hudControl.visualAlert)
self.frame += 1
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.acc_active_prev = 0
self.gas_pressed_prev = False
# *** init the major players ***
self.CS = CarState(CP)
self.VM = VehicleModel(CP)
self.pt_cp = get_powertrain_can_parser(CP)
self.cam_cp = get_camera_can_parser(CP)
self.gas_pressed_prev = False
self.CC = None
if CarController is not None:
self.CC = CarController(CP.carFingerprint)
@staticmethod
def compute_gb(accel, speed):
return float(accel) / 4.0
@staticmethod
def get_params(candidate,
fingerprint=gen_empty_fingerprint(),
has_relay=False,
car_fw=[]):
ret = car.CarParams.new_message()
ret.carName = "subaru"
ret.radarOffCan = True
ret.carFingerprint = candidate
ret.isPandaBlack = has_relay
ret.safetyModel = car.CarParams.SafetyModel.subaru
ret.enableCruise = True
# force openpilot to fake the stock camera, since car harness is not supported yet and old style giraffe (with switches)
# was never released
ret.enableCamera = True
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4
if candidate in [CAR.IMPREZA]:
ret.mass = 1568. + STD_CARGO_KG
ret.wheelbase = 2.67
ret.centerToFront = ret.wheelbase * 0.5
ret.steerRatio = 15
ret.steerActuatorDelay = 0.4 # end-to-end angle controller
ret.lateralTuning.pid.kf = 0.00005
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[
0., 20.
], [0., 20.]]
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3],
[
0.02,
0.03
]]
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.steerControlType = car.CarParams.SteerControlType.torque
ret.steerRatioRear = 0.
# testing tuning
# No long control in subaru
ret.gasMaxBP = [0.]
ret.gasMaxV = [0.]
ret.brakeMaxBP = [0.]
ret.brakeMaxV = [0.]
ret.longitudinalTuning.deadzoneBP = [0.]
ret.longitudinalTuning.deadzoneV = [0.]
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
ret.longitudinalTuning.kiV = [0.]
# end from gm
# 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)
return ret
# returns a car.CarState
def update(self, c, can_strings):
self.pt_cp.update_strings(can_strings)
self.cam_cp.update_strings(can_strings)
self.CS.update(self.pt_cp, self.cam_cp)
# create message
ret = car.CarState.new_message()
ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
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
# torque and user override. Driver awareness
# timer resets when the user uses the steering wheel.
ret.steeringPressed = self.CS.steer_override
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.gas = self.CS.pedal_gas / 255.
ret.gasPressed = self.CS.user_gas_pressed
# cruise state
ret.cruiseState.enabled = bool(self.CS.acc_active)
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.
ret.leftBlinker = self.CS.left_blinker_on
ret.rightBlinker = self.CS.right_blinker_on
ret.seatbeltUnlatched = self.CS.seatbelt_unlatched
ret.doorOpen = self.CS.door_open
buttonEvents = []
# blinkers
if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.leftBlinker
be.pressed = self.CS.left_blinker_on
buttonEvents.append(be)
if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.rightBlinker
be.pressed = self.CS.right_blinker_on
buttonEvents.append(be)
be = car.CarState.ButtonEvent.new_message()
be.type = ButtonType.accelCruise
buttonEvents.append(be)
events = []
if ret.seatbeltUnlatched:
events.append(
create_event('seatbeltNotLatched',
[ET.NO_ENTRY, ET.SOFT_DISABLE]))
if ret.doorOpen:
events.append(
create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.acc_active and not self.acc_active_prev:
events.append(create_event('pcmEnable', [ET.ENABLE]))
if not self.CS.acc_active:
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
# disable on gas pedal rising edge
if (ret.gasPressed and not self.gas_pressed_prev):
events.append(
create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gasPressed:
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
ret.events = events
# update previous brake/gas pressed
self.gas_pressed_prev = ret.gasPressed
self.acc_active_prev = self.CS.acc_active
# cast to reader so it can't be modified
return ret.as_reader()
def apply(self, c):
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
c.cruiseControl.cancel,
c.hudControl.visualAlert,
c.hudControl.leftLaneVisible,
c.hudControl.rightLaneVisible)
self.frame += 1
return can_sends