def __init__(self, mpc_id):
self.mpc_id = mpc_id
self.op_params = opParams()
self.df_profiles = dfProfiles()
self.df_manager = dfManager(self.op_params)
if not travis and mpc_id == 1:
self.pm = messaging.PubMaster(['dynamicFollowData'])
else:
self.pm = None
# Model variables
mpc_rate = 1 / 20.
self.model_scales = {
'v_ego': [-0.06112159043550491, 37.96522521972656],
'a_lead': [-3.109330892562866, 3.3612186908721924],
'v_lead': [0.0, 35.27671432495117],
'x_lead': [2.4600000381469727, 141.44000244140625]
}
self.predict_rate = 1 / 4.
self.skip_every = round(0.25 / mpc_rate)
self.model_input_len = round(45 / mpc_rate)
# Dynamic follow variables
self.default_TR = 1.8
self.TR = 1.8
self.v_ego_retention = 2.5
self.v_rel_retention = 1.75
self.sng_TR = 1.8 # reacceleration stop and go TR
self.sng_speed = 18.0 * CV.MPH_TO_MS
self._setup_collector()
self._setup_changing_variables()
def __init__(self, mpc_id):
self.mpc_id = mpc_id
self.op_params = opParams()
self.df_profiles = dfProfiles()
self.df_manager = dfManager()
self.dmc_v_rel = DistanceModController(k_i=0.042,
k_d=0.08,
x_clip=[-1, 0, 0.66],
mods=[1.15, 1., 0.95])
self.dmc_a_rel = DistanceModController(
k_i=0.042 * 1.05,
k_d=0.08,
x_clip=[-1, 0, 0.33],
mods=[1.15, 1., 0.98]) # a_lead loop is 5% faster
if not travis and mpc_id == 1:
self.pm = messaging.PubMaster(['dynamicFollowData'])
else:
self.pm = None
# Model variables
mpc_rate = 1 / 20.
self.model_scales = {
'v_ego': [-0.06112159043550491, 37.96522521972656],
'a_lead': [-3.109330892562866, 3.3612186908721924],
'v_lead': [0.0, 35.27671432495117],
'x_lead': [2.4600000381469727, 141.44000244140625]
}
self.predict_rate = 1 / 4.
self.skip_every = round(0.25 / mpc_rate)
self.model_input_len = round(45 / mpc_rate)
# Dynamic follow variables
self.default_TR = 1.8
self.TR = 1.8
self.v_ego_retention = 2.5
self.v_rel_retention = 1.75
#self.sng_TR = 1.8 # reacceleration stop and go TR #Orig
#self.sng_TR = 2.3 # Last value
#self.sng_TR = 1.5 # Try to decrease stop and start TR so would start move faster from stop
self.sng_TR = 1. # Try to decrease stop and start TR so would start move faster from stop
self.sng_TR = 2.5 # Maybe I thought this wrong
self.sng_speed = 18.0 * CV.MPH_TO_MS #Orig
#self.sng_speed = 12.0 * CV.MPH_TO_MS
self._setup_collector()
self._setup_changing_variables()
update_v_cruise, \
initialize_v_cruise
from selfdrive.controls.lib.longcontrol import LongControl, STARTING_TARGET_SPEED
from selfdrive.controls.lib.latcontrol_pid import LatControlPID
from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
from selfdrive.controls.lib.latcontrol_lqr import LatControlLQR
from selfdrive.controls.lib.alertmanager import AlertManager
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.controls.lib.planner import LON_MPC_STEP
from selfdrive.locationd.calibration_helpers import Calibration, Filter
#from common.travis_checker import travis
from common.op_params import opParams
from selfdrive.controls.lib.dynamic_follow.df_manager import dfManager
op_params = opParams()
df_manager = dfManager(op_params)
hide_auto_df_alerts = op_params.get('hide_auto_df_alerts', False)
traffic_light_alerts = op_params.get('traffic_light_alerts', True)
#LANE_DEPARTURE_THRESHOLD = 0.1
STEER_ANGLE_SATURATION_TIMEOUT = 1.0 / DT_CTRL
STEER_ANGLE_SATURATION_THRESHOLD = 2.5 # Degrees
ThermalStatus = log.ThermalData.ThermalStatus
State = log.ControlsState.OpenpilotState
HwType = log.HealthData.HwType
LaneChangeState = log.PathPlan.LaneChangeState
LaneChangeDirection = log.PathPlan.LaneChangeDirection
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(3, Priority.CTRL_HIGH)
self.op_params = opParams()
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl',
'carEvents', 'carParams'
])
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster([
'thermal', 'health', 'model', 'liveCalibration', 'frontFrame',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'
])
# golden patched
self.sm_smiskol = messaging.SubMaster([
'radarState', 'dynamicFollowData', 'liveTracks',
'dynamicFollowButton', 'laneSpeed', 'dynamicCameraOffset',
'modelLongButton', 'liveMapData'
],
ignore_alive=['liveMapData'])
self.op_params = opParams()
self.df_manager = dfManager(self.op_params)
self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts')
self.support_white_panda = self.op_params.get('support_white_panda')
self.last_model_long = False
# golden patched
self.git_check_time = sec_since_boot()
self.git_alert_times = 6
self.git_alerted = False
self.nav_alerted = False
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT',
False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one health and one CAN packet
hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP, candidate = get_car(self.can_sock,
self.pm.sock['sendcan'],
has_relay)
threading.Thread(target=log_fingerprint, args=[candidate]).start()
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled",
encoding='utf8') == "1"
internet_needed = (params.get("Offroad_ConnectivityNeeded",
encoding='utf8') is not None) and (
params.get("DisableUpdates") != b"1")
community_feature_toggle = params.get("CommunityFeaturesToggle",
encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle",
encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1" or \
internet_needed or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb, candidate)
self.VM = VehicleModel(self.CP)
if self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
self.sm['thermal'].freeSpace = 1.
self.sm['dMonitoringState'].events = []
self.sm['dMonitoringState'].awarenessStatus = 1.
self.sm['dMonitoringState'].faceDetected = False
self.startup_event = get_startup_event(car_recognized,
controller_available)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if internet_needed:
self.events.add(EventName.internetConnectivityNeeded, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
if hw_type == HwType.whitePanda and not self.support_white_panda:
self.events.add(EventName.whitePandaUnsupportedDEPRECATED,
static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def __init__(self, sm=None, pm=None, can_sock=None, arne_sm=None):
gc.disable()
set_realtime_priority(53)
set_core_affinity(3)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman', 'radarState'])
self.arne_sm = arne_sm
if self.arne_sm is None:
self.arne_sm = messaging_arne.SubMaster(['arne182Status', 'dynamicFollowButton', 'trafficModelEvent', 'modelLongButton' ])
self.op_params = opParams()
self.df_manager = dfManager(self.op_params)
self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts')
self.traffic_light_alerts = self.op_params.get('traffic_light_alerts')
self.last_model_long = False
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one health and one CAN packet
hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
print("Waiting for CAN messages...")
messaging.get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
internet_needed = (params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None) and (params.get("DisableUpdates") != b"1")
community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1" or \
internet_needed or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
#sounds_available = not ANDROID or get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("LongitudinalControl", "1" if self.CP.openpilotLongitudinalControl else "0")
if self.CP.openpilotLongitudinalControl and self.CP.safetyModel in [car.CarParams.SafetyModel.hondaBoschGiraffe, car.CarParams.SafetyModel.hondaBoschHarness]:
disable_radar(can_sock, pm.sock['sendcan'], 1 if has_relay else 0, timeout=1, retry=10)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.eventsArne182 = Events_arne182()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
if self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.last_ldw_frame = 0
self.saturated_count = 0
self.distance_traveled_now = 0
if not travis:
self.distance_traveled = float(params.get("DistanceTraveled", encoding='utf8'))
self.distance_traveled_engaged = float(params.get("DistanceTraveledEngaged", encoding='utf8'))
self.distance_traveled_override = float(params.get("DistanceTraveledOverride", encoding='utf8'))
else:
self.distance_traveled = 0
self.distance_traveled_engaged = 0
self.distance_traveled_override = 0
self.distance_traveled_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.sm['liveCalibration'].calStatus = Calibration.INVALID
self.sm['thermal'].freeSpace = 1.
self.sm['dMonitoringState'].events = []
self.sm['dMonitoringState'].awarenessStatus = 1.
self.sm['dMonitoringState'].faceDetected = False
self.startup_event = get_startup_event(car_recognized, controller_available)
#if not sounds_available:
# self.events.add(EventName.soundsUnavailable, static=True)
if internet_needed:
self.events.add(EventName.internetConnectivityNeeded, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if self.read_only and not passive:
self.events.add(EventName.carUnrecognized, static=True)
if hw_type == HwType.whitePanda:
self.events.add(EventName.whitePandaUnsupported, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default