def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
self.angle_offset = 0.
self.init_angle_offset = False
self.acc_slow_on = False
self.pcm_acc_status = False
self.setspeedoffset = 34.0
self.Angles = np.zeros(250)
self.Angles_later = np.zeros(250)
self.Angle_counter = 0
self.Angle = [0, 5, 10, 15, 20, 25, 30, 35, 60, 100, 180, 270, 500]
self.Angle_Speed = [
255, 160, 100, 80, 70, 60, 55, 50, 40, 33, 27, 17, 12
]
if BASEDIR == "/data/openpilot" or BASEDIR == "/data/openpilot.arne182":
self.traffic_data_sock = messaging.pub_sock(
service_list['liveTrafficData'].port)
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
print("DBC PARSED: %s" % DBC[CP.carFingerprint]['pt'])
self.shifter_values = 'D' #self.can_define.dv["GEAR_PACKET"]['GEAR']
self.ENGAGED = False
self.UDP_IP = "192.168.200.20"
self.UDP_PORT = 5005
self.sock = socket.socket(
socket.AF_INET, # Internet
socket.SOCK_DGRAM) # UDP
self.sock.bind((self.UDP_IP, self.UDP_PORT))
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
self.pcm_acc_status = 0
self.pcm_acc_active = False
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
self.angle_offset = 0.
self.init_angle_offset = False
self.distance_toggle_prev = 2
self.read_distance_lines_prev = 3
self.lane_departure_toggle_on_prev = True
self.lane_departure_toggle_on = False
self.cstm_btns_tr = 0
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP, canbus):
# initialize can parser
self.CP = CP
self.car_fingerprint = CP.carFingerprint
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["Getriebe_11"]['GE_Fahrstufe']
self.buttonStates = BUTTON_STATES.copy()
# vEgo Kalman filter
dt = 0.01
self.v_ego_kf = KF1D(x0=[[0.], [0.]],
A=[[1., dt], [0., 1.]],
C=[1., 0.],
K=[[0.12287673], [0.29666309]])
def __init__(self, CP):
#self.kegman = kegman_conf()
#self.trMode = int(self.kegman.conf['lastTrMode']) # default to last distance interval on startup
#self.trMode = 1
self.lkMode = True
self.read_distance_lines_prev = 4
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.brake_pressed = 0
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.lead_distance = 255
self.hud_lead = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.lead_distance = 255
self.prev_steering_counter = 0
self.steer_data_reused = 0
self.steer_good_count = 0
self.steer_data_skipped = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.cruise_mode = 0
self.steer_advance = 0.
self.stopped = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = 0 #KF1D(x0=[[0.0], [0.0]],
# A=[[1.0, dt], [0.0, 1.0]],
# C=[1.0, 0.0],
# K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.steer_status_values = defaultdict(
lambda: "UNKNOWN",
self.can_define.dv["STEER_STATUS"]["STEER_STATUS"])
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.cruise_mode = 0
self.stopped = 0
### START OF MAIN CONFIG OPTIONS ###
### Do NOT modify here, modify in /data/honda_openpilot.cfg and reboot
self.useTeslaRadar = False
self.radarVIN = " "
self.radarOffset = 0
#read config file
read_config_file(self)
### END OF MAIN CONFIG OPTIONS ###
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
#labels for buttons
self.btns_init = [["alca","ALC",["MadMax","Normal","Wifey"]], \
["","",[""]], \
["","",[""]], \
["sound","SND",[""]], \
["", "",[""]], \
["", "", [""]]]
#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16., 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5., 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 1.5]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40., 10., 3.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [
.358, 0.084, 0.042
] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7, 0.30, 0.20]
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
self.angle_offset = 0.
self.init_angle_offset = False
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
