def status_monitor():
# use driverState socker to drive timing.
driverState = messaging.sub_sock('driverState', addr=args.addr, conflate=True)
sm = messaging.SubMaster(['carState', 'dMonitoringState'], addr=args.addr)
steering_status = SteeringStatus()
while messaging.recv_one(driverState):
try:
sm.update()
# Get status and steering pressed value from our own instance of SteeringStatus
steering_status.update(Events(), sm['carState'].steeringPressed, sm['carState'].cruiseState.enabled, sm['carState'].standstill)
steering_value = int(math.floor(steering_status.current_steering_pressed() * 9.99))
plot_list = ['-' for i in range(10)]
plot_list[steering_value] = '+'
# Get events from `dMonitoringState`
events = sm['dMonitoringState'].events
event_name = events[0].name if len(events) else "None"
# Print output
sys.stdout.write(f'\rsteering Pressed -> {"".join(plot_list)} | state: {steering_status.steering_state.name} | event: {event_name}')
sys.stdout.flush()
except Exception as e:
print(e)
def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm):
# Update controllers
self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
self.events = Events()
self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise,
self.events)
self.turn_speed_controller.update(enabled, v_ego, a_ego, sm)
# Pick solution with lowest acceleration target.
a_solutions = {'cruise': float("inf")}
v_solutions = {'cruise': v_cruise}
if self.vision_turn_controller.is_active:
a_solutions['turn'] = self.vision_turn_controller.a_target
v_solutions['turn'] = self.vision_turn_controller.v_turn
if self.speed_limit_controller.is_active:
a_solutions['limit'] = self.speed_limit_controller.a_target
v_solutions[
'limit'] = self.speed_limit_controller.speed_limit_offseted
if self.turn_speed_controller.is_active:
a_solutions['turnlimit'] = self.turn_speed_controller.a_target
v_solutions['turnlimit'] = self.turn_speed_controller.speed_limit
source = min(v_solutions, key=v_solutions.get)
return source, a_solutions[source], v_solutions[source]
def __init__(self, CP, init_v=0.0, init_a=0.0):
self.CP = CP
self.mpc = LongitudinalMpc()
self.fcw = False
self.v_desired = init_v
self.a_desired = init_a
self.alpha = np.exp(-DT_MDL / 2.0)
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
# dp
self.dp_accel_profile_ctrl = False
self.dp_accel_profile = DP_ACCEL_ECO
self.dp_following_profile_ctrl = False
self.dp_following_profile = 2
self.dp_following_dist = 1.8 # default val
self.cruise_source = 'cruise'
self.vision_turn_controller = VisionTurnController(CP)
self.speed_limit_controller = SpeedLimitController()
self.events = Events()
self.turn_speed_controller = TurnSpeedController()
def update_curv(self, CS, sm, model_speed):
wait_time_cmd = 0
set_speed = self.cruise_set_speed_kph
# 2. 커브 감속.
#if self.cruise_set_speed_kph >= 100:
if CS.out.cruiseState.modeSel == 1 and Events().names not in [EventName.laneChangeManual, EventName.laneChange] and not self.map_decel_only:
if model_speed < 60 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.275)
self.seq_step_debug = "커브감속-4"
wait_time_cmd = 30
elif model_speed < 70 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.225)
self.seq_step_debug = "커브감속-3"
wait_time_cmd = 50
elif model_speed < 80 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.175)
self.seq_step_debug = "커브감속-2"
wait_time_cmd = 70
elif model_speed < 90 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.125)
self.seq_step_debug = "커브감속-1"
wait_time_cmd = 90
return wait_time_cmd, set_speed
def update_curv(self, CS, sm, model_speed):
wait_time_cmd = 0
set_speed = self.cruise_set_speed_kph
# 2. 커브 감속.
#if self.cruise_set_speed_kph >= 100:
if int(Params().get('LimitSetSpeedCurv')) == 1 and Events().names not in [EventName.laneChangeManual, EventName.laneChange]:
if model_speed < 60 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.2)
self.seq_step_debug = "커브감속-4"
wait_time_cmd = 70
elif model_speed < 70 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.15)
self.seq_step_debug = "커브감속-3"
wait_time_cmd = 80
elif model_speed < 80 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.1)
self.seq_step_debug = "커브감속-2"
wait_time_cmd = 90
elif model_speed < 90 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.05)
self.seq_step_debug = "커브감속-1"
wait_time_cmd = 100
return wait_time_cmd, set_speed
def update_curv(self, CS, sm, curve_speed):
wait_time_cmd = 0
set_speed = self.cruise_set_speed_kph
# 2. 커브 감속.
#if self.cruise_set_speed_kph >= 100:
if CS.out.cruiseState.modeSel == 1 and Events().names not in [EventName.laneChangeManual, EventName.laneChange] and not (CS.left_blinker_flash or CS.right_blinker_flash)and not self.map_decel_only:
if curve_speed < 25 and int(CS.clu_Vanz) >= 40 and CS.lead_distance >= 15:
set_speed = min(45, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.3))
self.seq_step_debug = "커브감속-5"
wait_time_cmd = 8
elif curve_speed < 40 and int(CS.clu_Vanz) >= 40 and CS.lead_distance >= 15:
set_speed = min(55, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.25))
self.seq_step_debug = "커브감속-4"
wait_time_cmd = 8
elif curve_speed < 60 and int(CS.clu_Vanz) >= 40 and CS.lead_distance >= 15:
set_speed = min(65, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.2))
self.seq_step_debug = "커브감속-3"
wait_time_cmd = 8
elif curve_speed < 75 and int(CS.clu_Vanz) >= 40 and CS.lead_distance >= 15:
set_speed = min(75, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.15))
self.seq_step_debug = "커브감속-2"
wait_time_cmd = 8
elif curve_speed < 90 and int(CS.clu_Vanz) >= 40 and CS.lead_distance >= 15:
set_speed = min(85, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.1))
self.seq_step_debug = "커브감속-1"
wait_time_cmd = 8
return wait_time_cmd, set_speed
def create_common_events(self,
cs_out,
extra_gears=[],
gas_resume_speed=-1,
pcm_enable=True): # pylint: disable=dangerous-default-value
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
#if cs_out.seatbeltUnlatched:
#events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears and cs_out.cruiseState.enabled:
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse and cs_out.cruiseState.enabled:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available and cs_out.cruiseState.enabled:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.gasPressed and self.CP.openpilotLongitudinalControl:
events.add(EventName.gasPressed)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if cs_out.steerError:
events.add(EventName.steerUnavailable)
#elif cs_out.steerWarning:
#events.add(EventName.steerTempUnavailable)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if self.CP.openpilotLongitudinalControl:
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)
# we engage when pcm is active (rising edge)
#if pcm_enable:
# if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
# events.add(EventName.pcmEnable)
# elif not cs_out.cruiseState.enabled:
# events.add(EventName.pcmDisable)
if not pcm_enable:
pass
elif cs_out.cruiseState.enabled != self.cruise_enabled_prev:
if cs_out.cruiseState.enabled:
events.add(EventName.pcmEnable)
else:
events.add(EventName.pcmDisable)
self.cruise_enabled_prev = cs_out.cruiseState.enabled
return events
def create_common_events(self,
cs_out,
extra_gears=None,
pcm_enable=True,
allow_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (
extra_gears is None or cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
if cs_out.parkingBrake:
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(
1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.silent_steer_warning = False
if cs_out.steerFaultPermanent:
events.add(EventName.steerUnavailable)
# we engage when pcm is active (rising edge)
# enabling can optionally be blocked by the car interface
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled and allow_enable:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (
extra_gears is None or cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.gasPressed:
events.add(EventName.gasPressed)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if cs_out.brakeHoldActive and self.CP.openpilotLongitudinalControl:
events.add(EventName.brakeHold)
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerWarning:
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(
1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.silent_steer_warning = False
if cs_out.steerError:
events.add(EventName.steerUnavailable)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# TODO: JJS : Fix gas press correctly (with an option)
#if (cs_out.gasPressed and not self.CS.out.gasPressed) or \
if (cs_out.brakePressed
and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)
# we engage when pcm is active (rising edge)
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def cycle_alerts(duration=200, is_metric=False):
alerts = list(EVENTS.keys())
print(alerts)
alerts = [
EventName.preDriverDistracted, EventName.promptDriverDistracted,
EventName.driverDistracted
]
CP = CarInterface.get_params("HONDA CIVIC 2016 TOURING")
sm = messaging.SubMaster([
'deviceState', 'pandaState', 'roadCameraState', 'modelV2',
'liveCalibration', 'driverMonitoringState', 'longitudinalPlan',
'lateralPlan', 'liveLocationKalman'
])
controls_state = messaging.pub_sock('controlsState')
deviceState = messaging.pub_sock('deviceState')
idx, last_alert_millis = 0, 0
events = Events()
AM = AlertManager()
frame = 0
while 1:
if frame % duration == 0:
idx = (idx + 1) % len(alerts)
events.clear()
events.add(alerts[idx])
current_alert_types = [
ET.PERMANENT, ET.USER_DISABLE, ET.IMMEDIATE_DISABLE,
ET.SOFT_DISABLE, ET.PRE_ENABLE, ET.NO_ENTRY, ET.ENABLE, ET.WARNING
]
a = events.create_alerts(current_alert_types, [CP, sm, is_metric])
AM.add_many(frame, a)
AM.process_alerts(frame)
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.alertText1 = AM.alert_text_1
dat.controlsState.alertText2 = AM.alert_text_2
dat.controlsState.alertSize = AM.alert_size
dat.controlsState.alertStatus = AM.alert_status
dat.controlsState.alertBlinkingRate = AM.alert_rate
dat.controlsState.alertType = AM.alert_type
dat.controlsState.alertSound = AM.audible_alert
controls_state.send(dat.to_bytes())
dat = messaging.new_message()
dat.init('deviceState')
dat.deviceState.started = True
deviceState.send(dat.to_bytes())
frame += 1
time.sleep(0.01)
def setUp(self):
CarInterface, CarController, CarState = interfaces["mock"]
CP = CarInterface.get_params("mock")
CI = CarInterface(CP, CarController, CarState)
self.controlsd = Controls(CI=CI)
self.controlsd.events = Events()
self.controlsd.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.CS = car.CarState()
def create_common_events(self, cs_out, extra_gears=[], gas_resume_speed=-1, pcm_enable=True): # pylint: disable=dangerous-default-value
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if self.dragonconf.dpGearCheck:
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available and not self.dragonconf.dpAtl:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.gasPressed and not self.dragonconf.dpAllowGas and not self.dragonconf.dpAtl:
events.add(EventName.gasPressed)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > self.dragonconf.dpMaxCtrlSpeed:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
if not self.dragonconf.dpLatCtrl:
events.add(EventName.manualSteeringRequired)
elif self.dragonconf.dpSteeringOnSignal and (cs_out.leftBlinker or cs_out.rightBlinker):
events.add(EventName.manualSteeringRequiredBlinkersOn)
elif cs_out.steerError:
events.add(EventName.steerUnavailable)
elif cs_out.steerWarning:
events.add(EventName.steerTempUnavailable)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if self.dragonconf.dpAtl:
pass
elif self.dragonconf.dpAllowGas:
if cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill):
events.add(EventName.pedalPressed)
else:
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)
# we engage when pcm is active (rising edge)
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def create_common_events(self, cs_out, extra_gears=None, gas_resume_speed=-1, pcm_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (extra_gears is None or
cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.gasPressed:
events.add(EventName.gasPressed)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.cruiseState.nonAdaptive:
events.add(EventName.wrongCruiseMode)
self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
# Handle permanent and temporary steering faults
if cs_out.steerError:
events.add(EventName.steerUnavailable)
elif cs_out.steerWarning:
# only escalate to the harsher alert after the condition has
# persisted for 0.5s and we're certain that the user isn't overriding
if self.steering_unpressed > int(0.5/DT_CTRL) and self.steer_warning > int(0.5/DT_CTRL):
events.add(EventName.steerTempUnavailable)
else:
events.add(EventName.steerTempUnavailableSilent)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)
# we engage when pcm is active (rising edge)
if pcm_enable:
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def create_common_events(self,
cs_out,
extra_gears=None,
gas_resume_speed=-1,
pcm_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and (
extra_gears is None or cs_out.gearShifter not in extra_gears):
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
self.steer_warning = self.steer_warning + 1 if cs_out.steerWarning else 0
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
# Handle permanent and temporary steering faults
if cs_out.steerError:
events.add(EventName.steerUnavailable)
elif cs_out.steerWarning:
# only escalate to the harsher alert after the condition has
# persisted for 0.5s and we're certain that the user isn't overriding
if self.steering_unpressed > int(
0.5 / DT_CTRL) and self.steer_warning > int(0.5 / DT_CTRL):
events.add(EventName.steerTempUnavailable)
else:
events.add(EventName.steerTempUnavailableSilent)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
if cs_out.brakePressed and (not self.CS.out.brakePressed
or not cs_out.standstill):
pass
#events.add(EventName.pedalPressed)
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def _run_seq(self, msgs, interaction, engaged, standstill):
DS = DriverStatus()
events = []
for idx in range(len(msgs)):
e = Events()
DS.update_states(msgs[idx], [0, 0, 0], 0, engaged[idx])
# cal_rpy and car_speed don't matter here
# evaluate events at 10Hz for tests
DS.update_events(e, interaction[idx], engaged[idx], standstill[idx])
events.append(e)
assert len(events) == len(msgs), f"got {len(events)} for {len(msgs)} driverState input msgs"
return events, DS
def create_common_events(self,
cs_out,
extra_gears=[],
gas_resume_speed=-1,
pcm_enable=True):
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
elif cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
elif cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.add(EventName.wrongGear)
elif cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
elif not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
elif cs_out.espDisabled:
events.add(EventName.espDisabled)
elif cs_out.gasPressed and self.CP.longcontrolEnabled:
events.add(EventName.gasPressed)
elif cs_out.stockFcw:
events.add(EventName.stockFcw)
elif cs_out.stockAeb:
events.add(EventName.stockAeb)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if self.CP.longcontrolEnabled:
if (cs_out.gasPressed and (not self.CS.out.gasPressed) and cs_out.vEgo > gas_resume_speed) or \
(cs_out.brakePressed and (not self.CS.out.brakePressed or not cs_out.standstill)):
events.add(EventName.pedalPressed)
# we engage when pcm is active (rising edge)
#if pcm_enable:
# if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
# events.add( EventName.pcmEnable )
# elif not cs_out.cruiseState.enabled:
# events.add( EventName.pcmDisable )
if not pcm_enable:
pass
elif cs_out.cruiseState.enabled != self.cruise_enabled_prev:
if cs_out.cruiseState.enabled:
events.add(EventName.pcmEnable)
else:
events.add(EventName.pcmDisable)
self.cruise_enabled_prev = cs_out.cruiseState.enabled
return events
def run_DState_seq(driver_state_msgs, driver_car_interaction, openpilot_status, car_standstill_status):
# inputs are all 10Hz
DS = DriverStatus()
events_from_DM = []
for idx in range(len(driver_state_msgs)):
e = Events()
DS.get_pose(driver_state_msgs[idx], [0, 0, 0], 0, openpilot_status[idx])
# cal_rpy and car_speed don't matter here
# evaluate events at 10Hz for tests
DS.update(e, driver_car_interaction[idx], openpilot_status[idx], car_standstill_status[idx])
events_from_DM.append(e)
assert len(events_from_DM) == len(driver_state_msgs), 'somethings wrong'
return events_from_DM, DS
def update(self, enabled, v_ego, a_ego, sm, v_cruise_setpoint, events=Events()):
self._op_enabled = enabled
self._v_ego = v_ego
self._a_ego = a_ego
self._v_cruise_setpoint = v_cruise_setpoint
self._gas_pressed = sm['carState'].gasPressed
self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
self._update_params()
self._update_calculations()
self._state_transition()
self._update_solution()
self._update_events(events)
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.mpcs['custom'] = LimitsLongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-CP.radarTimeStep/2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.vision_turn_controller = VisionTurnController(CP)
self.speed_limit_controller = SpeedLimitController()
self.events = Events()
self.turn_speed_controller = TurnSpeedController()
self._params = Params()
self.params_check_last_t = 0.
self.params_check_freq = 0.1 # check params at 10Hz
self.accel_mode = int(self._params.get("AccelMode", encoding="utf8")) # 0 = normal, 1 = sport; 2 = eco; 3 = creep
self.coasting_lead_d = -1. # [m] lead distance. -1. if no lead
self.coasting_lead_v = -10. # lead "absolute"" velocity
self.tr = 1.8
self.sessionInitTime = sec_since_boot()
self.debug_logging = False
self.debug_log_time_step = 0.333
self.last_debug_log_t = 0.
self.debug_log_path = "/data/openpilot/long_debug.csv"
if self.debug_logging:
with open(self.debug_log_path,"w") as f:
f.write(",".join([
"t",
"vEgo",
"vEgo (mph)",
"a lim low",
"a lim high",
"out a",
"out long plan"]) + "\n")
def status_monitor():
# use driverState socker to drive timing.
driverState = messaging.sub_sock('driverState',
addr=args.addr,
conflate=True)
sm = messaging.SubMaster(['carState', 'dMonitoringState'], addr=args.addr)
steering_status = HandsOnWheelStatus()
v_cruise_last = 0
while messaging.recv_one(driverState):
try:
sm.update()
v_cruise = sm['carState'].cruiseState.speed
steering_wheel_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or sm['carState'].steeringPressed
v_cruise_last = v_cruise
# Get status from our own instance of SteeringStatus
steering_status.update(Events(), steering_wheel_engaged,
sm['carState'].cruiseState.enabled,
sm['carState'].vEgo)
steering_state = steering_status.hands_on_wheel_state
state_name = "Unknown "
if steering_state == HandsOnWheelState.none:
state_name = "Not Active "
elif steering_state == HandsOnWheelState.ok:
state_name = "Hands On Wheel "
elif steering_state == HandsOnWheelState.minor:
state_name = "Hands Off Wheel - Minor "
elif steering_state == HandsOnWheelState.warning:
state_name = "Hands Off Wheel - Warning "
elif steering_state == HandsOnWheelState.critical:
state_name = "Hands Off Wheel - Critical"
elif steering_state == HandsOnWheelState.terminal:
state_name = "Hands Off Wheel - Terminal"
# Get events from `dMonitoringState`
events = sm['dMonitoringState'].events
event_name = events[0].name if len(events) else "None"
event_name = "{:<30}".format(event_name[:30])
# Print output
sys.stdout.write(
f'\rSteering State: {state_name} | event: {event_name}')
sys.stdout.flush()
except Exception as e:
print(e)
def create_common_events(self,
cs_out,
extra_gears=[],
gas_resume_speed=-1): # pylint: disable=dangerous-default-value
events = Events()
if cs_out.doorOpen:
events.add(EventName.doorOpen)
if cs_out.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if cs_out.gearShifter != GearShifter.drive and cs_out.gearShifter not in extra_gears:
events.add(EventName.wrongGear)
if cs_out.gearShifter == GearShifter.reverse:
events.add(EventName.reverseGear)
if not cs_out.cruiseState.available:
events.add(EventName.wrongCarMode)
if cs_out.espDisabled:
events.add(EventName.espDisabled)
if cs_out.stockFcw:
events.add(EventName.stockFcw)
if cs_out.stockAeb:
events.add(EventName.stockAeb)
if cs_out.vEgo > MAX_CTRL_SPEED:
events.add(EventName.speedTooHigh)
if cs_out.steerError:
events.add(EventName.steerUnavailable)
elif cs_out.steerWarning:
events.add(EventName.steerTempUnavailable)
# Disable on rising edge of gas or brake. Also disable on brake when speed > 0.
# Optionally allow to press gas at zero speed to resume.
# e.g. Chrysler does not spam the resume button yet, so resuming with gas is handy. FIXME!
if cs_out.brakePressed and (not self.CS.out.brakePressed
or not cs_out.standstill):
None
# events.add(EventName.pedalPressed)
if cs_out.cruiseState.enabled and not self.CS.out.cruiseState.enabled:
events.add(EventName.pcmEnable)
elif not cs_out.cruiseState.enabled:
events.add(EventName.pcmDisable)
return events
def run_HOWState_seq(steering_wheel_interaction, openpilot_status,
speed_status):
# inputs are all 10Hz
HOWS = HandsOnWheelStatus()
events_from_HOWM = []
hands_on_wheel_state_from_HOWM = []
for idx in range(len(steering_wheel_interaction)):
e = Events()
# evaluate events at 10Hz for tests
HOWS.update(e, steering_wheel_interaction[idx], openpilot_status[idx],
speed_status[idx])
events_from_HOWM.append(e)
hands_on_wheel_state_from_HOWM.append(HOWS.hands_on_wheel_state)
assert len(events_from_HOWM) == len(
steering_wheel_interaction), 'somethings wrong'
assert len(hands_on_wheel_state_from_HOWM) == len(
steering_wheel_interaction), 'somethings wrong'
return events_from_HOWM, hands_on_wheel_state_from_HOWM
def mpc_solutions(self, enabled, v_ego, a_ego, v_cruise, sm):
# Update controllers
self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
self.events = Events()
self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events)
self.turn_speed_controller.update(enabled, v_ego, a_ego, sm)
# Pick solution with lowest acceleration target.
a_solutions = {None: float("inf")}
if self.vision_turn_controller.is_active:
a_solutions['turn'] = self.vision_turn_controller.a_target
if self.speed_limit_controller.is_active:
a_solutions['limit'] = self.speed_limit_controller.a_target
if self.turn_speed_controller.is_active:
a_solutions['turnlimit'] = self.turn_speed_controller.a_target
source = min(a_solutions, key=a_solutions.get)
a_sol = {
'cruise': a_ego, # Irrelevant
'lead0': a_ego, # Irrelevant
'lead1': a_ego, # Irrelevant
'custom': 0. if source is None else a_solutions[source],
}
active_sol = {
'cruise': True, # Irrelevant
'lead0': True, # Irrelevant
'lead1': True, # Irrelevant
'custom': source is not None,
}
return a_sol, active_sol, source
def update_curv(self, CS, sm, curve_speed):
wait_time_cmd = 0
set_speed = self.cruise_set_speed_kph
# 2. 커브 감속.
#if self.cruise_set_speed_kph >= 100:
if CS.out.cruiseState.modeSel == 1 and Events().names not in [
EventName.laneChangeManual, EventName.laneChange
] and not self.map_decel_only:
if curve_speed < 40 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = min(
48, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.25))
self.seq_step_debug = "커브감속-5"
wait_time_cmd = 15
elif curve_speed < 60 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = min(
55, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.2))
self.seq_step_debug = "커브감속-4"
wait_time_cmd = 20
elif curve_speed < 70 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = min(
65, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.15))
self.seq_step_debug = "커브감속-3"
wait_time_cmd = 25
elif curve_speed < 80 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = min(
75, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.1))
self.seq_step_debug = "커브감속-2"
wait_time_cmd = 30
elif curve_speed < 90 and CS.clu_Vanz > 40 and CS.lead_distance >= 15:
set_speed = min(
85, self.cruise_set_speed_kph - int(CS.clu_Vanz * 0.05))
self.seq_step_debug = "커브감속-1"
wait_time_cmd = 35
return wait_time_cmd, set_speed
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(3, Priority.CTRL_HIGH)
# 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',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
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 = 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 = 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)
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, hw_type)
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:
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
def __init__(self, sm=None, pm=None, can_sock=None):
gc.disable()
set_realtime_priority(3)
self.trace_log = trace1.Loger("controlsd")
# 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:
socks = [
'thermal', 'health', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'
]
self.sm = messaging.SubMaster(socks,
ignore_alive=['dMonitoringState'])
#self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', \
# 'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
print(" start_Controls messages...1")
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)
print(" start_Controls messages...2")
# 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]
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
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 os.path.isfile('/EON') or (os.path.isfile('/proc/asound/card0/state') \
and open('/proc/asound/card0/state').read().strip() == '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")
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
print('self.CP.lateralTuning.which()={}'.format(
self.CP.lateralTuning.which()))
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.consecutive_can_error_count = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.events_prev = []
self.current_alert_types = []
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, hw_type)
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)
uname = subprocess.check_output(["uname", "-v"],
encoding='utf8').strip()
if uname == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020":
self.events.add(EventName.neosUpdateRequired, 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
self.hyundai_lkas = self.read_only #read_only
self.init_flag = True
def cycle_alerts(duration=200, is_metric=False):
# all alerts
#alerts = list(EVENTS.keys())
# this plays each type of audible alert
alerts = [
(EventName.buttonEnable, ET.ENABLE),
(EventName.buttonCancel, ET.USER_DISABLE),
(EventName.wrongGear, ET.NO_ENTRY),
(EventName.vehicleModelInvalid, ET.SOFT_DISABLE),
(EventName.accFaulted, ET.IMMEDIATE_DISABLE),
# DM sequence
(EventName.preDriverDistracted, ET.WARNING),
(EventName.promptDriverDistracted, ET.WARNING),
(EventName.driverDistracted, ET.WARNING),
]
# debug alerts
alerts = [
#(EventName.highCpuUsage, ET.NO_ENTRY),
#(EventName.lowMemory, ET.PERMANENT),
#(EventName.overheat, ET.PERMANENT),
#(EventName.outOfSpace, ET.PERMANENT),
#(EventName.modeldLagging, ET.PERMANENT),
#(EventName.processNotRunning, ET.NO_ENTRY),
#(EventName.commIssue, ET.NO_ENTRY),
#(EventName.calibrationInvalid, ET.PERMANENT),
(EventName.cameraMalfunction, ET.PERMANENT),
(EventName.cameraFrameRate, ET.PERMANENT),
]
cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
CS = car.CarState.new_message()
CP = CarInterface.get_params("HONDA CIVIC 2016")
sm = messaging.SubMaster([
'deviceState', 'pandaStates', 'roadCameraState', 'modelV2',
'liveCalibration', 'driverMonitoringState', 'longitudinalPlan',
'lateralPlan', 'liveLocationKalman', 'managerState'
] + cameras)
pm = messaging.PubMaster(['controlsState', 'pandaStates', 'deviceState'])
events = Events()
AM = AlertManager()
frame = 0
while True:
for alert, et in alerts:
events.clear()
events.add(alert)
sm['deviceState'].freeSpacePercent = randperc()
sm['deviceState'].memoryUsagePercent = int(randperc())
sm['deviceState'].cpuTempC = [randperc() for _ in range(3)]
sm['deviceState'].gpuTempC = [randperc() for _ in range(3)]
sm['deviceState'].cpuUsagePercent = [
int(randperc()) for _ in range(8)
]
sm['modelV2'].frameDropPerc = randperc()
if random.random() > 0.25:
sm['modelV2'].velocity.x = [
random.random(),
]
if random.random() > 0.25:
CS.vEgo = random.random()
procs = [
p.get_process_state_msg() for p in managed_processes.values()
]
random.shuffle(procs)
for i in range(random.randint(0, 10)):
procs[i].shouldBeRunning = True
sm['managerState'].processes = procs
sm['liveCalibration'].rpyCalib = [
-1 * random.random() for _ in range(random.randint(0, 3))
]
for s in sm.data.keys():
prob = 0.3 if s in cameras else 0.08
sm.alive[s] = random.random() > prob
sm.valid[s] = random.random() > prob
sm.freq_ok[s] = random.random() > prob
a = events.create_alerts([
et,
], [CP, CS, sm, is_metric, 0])
AM.add_many(frame, a)
alert = AM.process_alerts(frame, [])
print(alert)
for _ in range(duration):
dat = messaging.new_message()
dat.init('controlsState')
dat.controlsState.enabled = False
if alert:
dat.controlsState.alertText1 = alert.alert_text_1
dat.controlsState.alertText2 = alert.alert_text_2
dat.controlsState.alertSize = alert.alert_size
dat.controlsState.alertStatus = alert.alert_status
dat.controlsState.alertBlinkingRate = alert.alert_rate
dat.controlsState.alertType = alert.alert_type
dat.controlsState.alertSound = alert.audible_alert
pm.send('controlsState', dat)
dat = messaging.new_message()
dat.init('deviceState')
dat.deviceState.started = True
pm.send('deviceState', dat)
dat = messaging.new_message('pandaStates', 1)
dat.pandaStates[0].ignitionLine = True
dat.pandaStates[0].pandaType = log.PandaState.PandaType.uno
pm.send('pandaStates', dat)
frame += 1
time.sleep(DT_CTRL)
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# 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:
ignore = ['driverCameraState', 'managerState'
] if SIMULATION else None
self.sm = messaging.SubMaster([
'deviceState', 'pandaState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan',
'liveLocationKalman', 'roadCameraState', 'driverCameraState',
'managerState', 'liveParameters', 'radarState'
],
ignore_alive=ignore)
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 pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
# read params
params = Params()
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") 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)
self.VM = VehicleModel(self.CP)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
elif 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.logged_comm_issue = False
self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
self.sm['deviceState'].freeSpacePercent = 100
self.sm['driverMonitoringState'].events = []
self.sm['driverMonitoringState'].awarenessStatus = 1.
self.sm['driverMonitoringState'].faceDetected = False
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized,
controller_available)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
elif self.read_only:
self.events.add(EventName.dashcamMode, 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):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl',
'carEvents', 'carParams'
])
self.camera_packets = ["roadCameraState", "driverCameraState"]
if TICI:
self.camera_packets.append("wideRoadCameraState")
params = Params()
self.joystick_mode = params.get_bool("JoystickDebugMode")
joystick_packet = ['testJoystick'] if self.joystick_mode else []
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'
] if SIMULATION else None
self.sm = messaging.SubMaster(
[
'deviceState', 'pandaStates', 'peripheralState', 'modelV2',
'liveCalibration', 'driverMonitoringState',
'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState'
] + self.camera_packets + joystick_packet,
ignore_alive=ignore,
ignore_avg_freq=['radarState', 'longitudinalPlan'])
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)
if TICI:
self.log_sock = messaging.sub_sock('androidLog')
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
# read params
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") 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'
controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature = self.CP.communityFeature or \
self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
community_feature_disallowed = community_feature 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:
safety_config = car.CarParams.SafetyConfig.new_message()
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
# Write CarParams for radard
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.VM = VehicleModel(self.CP)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.initialized = False
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.logged_comm_issue = False
self.button_timers = {
ButtonEvent.Type.decelCruise: 0,
ButtonEvent.Type.accelCruise: 0
}
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized,
controller_available,
len(self.CP.carFw) > 0)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed and car_recognized and not self.CP.dashcamOnly:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
elif self.read_only:
self.events.add(EventName.dashcamMode, static=True)
elif self.joystick_mode:
self.events.add(EventName.joystickDebug, static=True)
self.startup_event = None
# 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 dmonitoringd_thread(sm=None, pm=None):
if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverState', 'liveCalibration', 'carState', 'controlsState',
'modelV2'
],
poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].vEgo = 0.
sm['carState'].buttonEvents = []
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverState']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if driver_engaged:
driver_status.update(Events(), True,
sm['controlsState'].enabled,
sm['carState'].standstill,
sm['carState'].vEgo)
v_cruise_last = v_cruise
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'])
# Get data from dmonitoringmodeld
events = Events()
driver_status.get_pose(sm['driverState'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['controlsState'].enabled,
sm['carState'].standstill, sm['carState'].vEgo)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState')
dat.driverMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isActiveMode":
driver_status.active_monitoring_mode,
}
pm.send('driverMonitoringState', dat)
