def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.last_enable_pressed = 0
self.last_enable_sent = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cp = get_can_parser(CP)
# *** init the major players ***
self.CS = CarState(CP)
self.VM = VehicleModel(CP)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(CP.enableCamera)
if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
self.compute_gb = get_compute_gb_acura()
else:
self.compute_gb = compute_gb_honda
def __init__(self, CP, sendcan=None):
self.CP = CP
self.frame = 0
self.last_enable_pressed = 0
self.last_enable_sent = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.can_invalid_count = 0
self.cp = get_can_parser(CP)
# *** init the major players ***
self.CS = CarState(CP)
# sending if read only is False
if sendcan is not None:
self.sendcan = sendcan
self.CC = CarController(CP.enableCamera)
if self.CS.accord:
# self.accord_msg = []
raise NotImplementedError
if not self.CS.civic:
self.compute_gb = get_compute_gb_acura()
else:
self.compute_gb = compute_gb_honda
def __init__(self, CP, CarController):
self.CP = CP
self.frame = 0
self.last_enable_pressed = 0
self.last_enable_sent = 0
self.gas_pressed_prev = False
self.brake_pressed_prev = False
self.cp = get_can_parser(CP)
self.cp_cam = get_cam_can_parser(CP)
# *** init the major players ***
self.CS = CarState(CP)
self.VM = VehicleModel(CP)
self.CC = None
if CarController is not None:
self.CC = CarController(self.cp.dbc_name)
if self.CS.CP.carFingerprint == CAR.ACURA_ILX:
self.compute_gb = get_compute_gb_acura()
else:
self.compute_gb = compute_gb_honda
def step(self,
v_lead=0.0,
cruise_buttons=None,
grade=0.0,
publish_model=True):
# dbc_f, sgs, ivs, msgs, cks_msgs, frqs = initialize_can_struct(self.civic, self.brake_only)
cp2 = get_can_parser(fake_car_params())
sgs = cp2._sgs
msgs = cp2._msgs
cks_msgs = cp2.msgs_ck
# ******** get messages sent to the car ********
can_msgs = []
for a in messaging.drain_sock(Plant.sendcan):
can_msgs.extend(can_capnp_to_can_list(a.sendcan, [0, 2]))
self.cp.update_can(can_msgs)
# ******** get live100 messages for plotting ***
live_msgs = []
for a in messaging.drain_sock(Plant.live100):
live_msgs.append(a.live100)
if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE']
else:
brake = 0.0
if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
else:
gas = 0.0
if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
steer_torque = self.cp.vl[0xe4]['STEER_TORQUE'] * 1.0 / 0xf00
else:
steer_torque = 0.0
distance_lead = self.distance_lead_prev + v_lead * self.ts
# ******** run the car ********
speed, acceleration = car_plant(self.distance_prev, self.speed_prev,
grade, gas, brake)
standstill = (speed == 0)
distance = self.distance_prev + speed * self.ts
speed = self.speed_prev + self.ts * acceleration
if speed <= 0:
speed = 0
acceleration = 0
# ******** lateral ********
self.angle_steer -= (steer_torque / 10.0) * self.ts
# *** radar model ***
if self.lead_relevancy:
d_rel = np.maximum(0., distance_lead - distance)
v_rel = v_lead - speed
else:
d_rel = 200.
v_rel = 0.
a_rel = 0
lateral_pos_rel = 0.
# print at 5hz
if (self.rk.frame % (self.rate / 5)) == 0:
print "%6.2f m %6.2f m/s %6.2f m/s2 %.2f ang gas: %.2f brake: %.2f steer: %5.2f lead_rel: %6.2f m %6.2f m/s" % (
distance, speed, acceleration, self.angle_steer, gas, brake,
steer_torque, d_rel, v_rel)
# ******** publish the car ********
vls = [
self.speed_sensor(speed),
self.speed_sensor(speed),
self.speed_sensor(speed),
self.speed_sensor(speed),
self.angle_steer,
0,
self.gear_choice,
speed != 0,
0,
0,
0,
0,
self.v_cruise,
not self.seatbelt,
self.seatbelt,
self.brake_pressed,
self.user_gas,
cruise_buttons,
self.esp_disabled,
0,
self.user_brake,
self.steer_error,
self.speed_sensor(speed),
self.brake_error,
self.brake_error,
self.gear_shifter,
self.main_on,
self.acc_status,
self.pedal_gas,
self.cruise_setting,
# left_blinker, right_blinker, counter
0,
0,
0,
# interceptor_gas
0,
0
]
# TODO: publish each message at proper frequency
can_msgs = []
for msg in set(msgs):
msg_struct = {}
indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
for i in indxs:
msg_struct[sgs[i]] = vls[i]
if msg in cks_msgs:
msg_struct["COUNTER"] = self.rk.frame % 4
msg_data = acura.encode(msg, msg_struct)
if msg in cks_msgs:
msg_data = fix(msg_data, msg)
can_msgs.append([msg, 0, msg_data, 0])
# add the radar message
# TODO: use the DBC
def to_3_byte(x):
return struct.pack("!H", int(x)).encode("hex")[1:]
def to_3s_byte(x):
return struct.pack("!h", int(x)).encode("hex")[1:]
radar_msg = to_3_byte(d_rel*16.0) + \
to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
to_3s_byte(int(v_rel*32.0)) + \
"0f00000"
can_msgs.append([0x445, 0, radar_msg.decode("hex"), 1])
Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes())
# ******** publish a fake model going straight ********
if publish_model:
md = messaging.new_message()
md.init('model')
md.model.frameId = 0
for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
x.points = [0.0] * 50
x.prob = 1.0
x.std = 1.0
# fake values?
Plant.model.send(md.to_bytes())
# ******** update prevs ********
self.speed = speed
self.distance = distance
self.distance_lead = distance_lead
self.speed_prev = speed
self.distance_prev = distance
self.distance_lead_prev = distance_lead
self.rk.keep_time()
return (distance, speed, acceleration, distance_lead, brake, gas,
steer_torque, live_msgs)
