def steer_thread():
context = zmq.Context()
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
logcan = messaging.sub_sock(context, service_list['can'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
CI, CP = get_car(logcan, sendcan, None)
print("got car", CP.carName)
CC = car.CarControl.new_message()
i = 0
rate = 0.001
direction = 1
while True:
# send
CS = CI.update(CC)
actuators = car.CarControl.Actuators.new_message()
if i > 0.9 and direction == 1:
direction = -1
if i < -0.9 and direction == -1:
direction = 1
i += rate * direction
axis_3 = clip(i * 1.05, -1., 1.) # -1 to 1
actuators.steer = axis_3
actuators.steerAngle = axis_3 * 43. # deg
print("steer", actuators.steer)
CC.actuators.steer = actuators.steer
CC.actuators.steerAngle = actuators.steerAngle
CC.enabled = True
CI.apply(CC)
# broadcast carState
cs_send = messaging.new_message()
cs_send.init('carState')
cs_send.carState = copy(CS)
carstate.send(cs_send.to_bytes())
# broadcast carControl
cc_send = messaging.new_message()
cc_send.init('carControl')
cc_send.carControl = copy(CC)
carcontrol.send(cc_send.to_bytes())
# Limit to 100 frames per second
time.sleep(0.01)
def get_car_params(msgs, fsm, can_sock):
can = FakeSocket(wait=False)
sendcan = FakeSocket(wait=False)
canmsgs = [msg for msg in msgs if msg.which() == 'can']
for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes())
_, CP = get_car(can, sendcan)
Params().put("CarParams", CP.to_bytes())
def get_car_params(msgs, fsm, can_sock, fingerprint):
if fingerprint:
CarInterface, _, _ = interfaces[fingerprint]
CP = CarInterface.get_params(fingerprint)
else:
can = FakeSocket(wait=False)
sendcan = FakeSocket(wait=False)
canmsgs = [msg for msg in msgs if msg.which() == 'can']
for m in canmsgs[:300]:
can.send(m.as_builder().to_bytes())
_, CP = get_car(can, sendcan)
Params().put("CarParams", CP.to_bytes())
def get_car_params(msgs, pub_socks, sub_socks):
sendcan = pub_socks.get("sendcan", None)
if sendcan is None:
sendcan = messaging.pub_sock(service_list["sendcan"].port)
logcan = sub_socks.get("can", None)
if logcan is None:
logcan = messaging.sub_sock(service_list["can"].port)
can = pub_socks.get("can", None)
if can is None:
can = messaging.pub_sock(service_list["can"].port)
time.sleep(0.5)
canmsgs = filter(lambda msg: msg.which() == "can", msgs)
for m in canmsgs[:200]:
can.send(m.as_builder().to_bytes())
_, CP = get_car(logcan, sendcan)
Params().put("CarParams", CP.to_bytes())
time.sleep(0.5)
messaging.drain_sock(logcan)
def controlsd_thread(gctx=None, rate=100):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# Pub Sockets
live100 = messaging.pub_sock(context, service_list['live100'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
# No sendcan if passive
if not passive:
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
else:
sendcan = None
# Sub sockets
poller = zmq.Poller()
thermal = messaging.sub_sock(context,
service_list['thermal'].port,
conflate=True,
poller=poller)
health = messaging.sub_sock(context,
service_list['health'].port,
conflate=True,
poller=poller)
cal = messaging.sub_sock(context,
service_list['liveCalibration'].port,
conflate=True,
poller=poller)
driver_monitor = messaging.sub_sock(context,
service_list['driverMonitoring'].port,
conflate=True,
poller=poller)
plan_sock = messaging.sub_sock(context,
service_list['plan'].port,
conflate=True,
poller=poller)
path_plan_sock = messaging.sub_sock(context,
service_list['pathPlan'].port,
conflate=True,
poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(CP)
AM = AlertManager()
driver_status = DriverStatus()
if not passive:
AM.add("startup", False)
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
plan = messaging.new_message()
plan.init('plan')
path_plan = messaging.new_message()
path_plan.init('pathPlan')
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
controls_params = params.get("ControlsParams")
# Read angle offset from previous drive
if controls_params is not None:
controls_params = json.loads(controls_params)
angle_offset = controls_params['angle_offset']
else:
angle_offset = 0.
prof = Profiler(False) # off by default
while True:
start_time = int(sec_since_boot() * 1e9)
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan =\
data_sample(CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor,
poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status,
state, mismatch_counter, params, plan, path_plan)
prof.checkpoint("Sample")
path_plan_age = (start_time - path_plan.logMonoTime) / 1e9
plan_age = (start_time - plan.logMonoTime) / 1e9
if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5:
events.append(
create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
events += list(plan.plan.events)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and plan.plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, angle_offset, v_acc, a_acc = \
state_control(plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status,
LaC, LoC, VM, angle_offset, passive, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, AM, driver_status, LaC, LoC, angle_offset,
passive, start_time, params, v_acc, a_acc)
prof.checkpoint("Sent")
rk.keep_time() # Run at 100Hz
prof.display()
def controlsd_thread(sm=None, pm=None, can_sock=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
is_metric = params.get("IsMetric", encoding='utf8') == "1"
is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle",
encoding='utf8') == "1"
community_feature_toggle = params.get("CommunityFeaturesToggle",
encoding='utf8') == "1"
passive = passive or not openpilot_enabled_toggle
# Passive if internet needed
internet_needed = params.get("Offroad_ConnectivityNeeded",
encoding='utf8') is not None
passive = passive or internet_needed
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl', 'carEvents',
'carParams'
])
if sm is None:
sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', \
'model'])
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for health and CAN packets
hw_type = messaging.recv_one(sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno]
print("Waiting for CAN messages...")
messaging.get_one_can(can_sock)
CI, CP = get_car(can_sock, pm.sock['sendcan'], has_relay)
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
community_feature_disallowed = CP.communityFeature and not community_feature_toggle
read_only = not car_recognized or not controller_available or CP.dashcamOnly or community_feature_disallowed
if read_only:
CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message()
AM = AlertManager()
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
elif CP.lateralTuning.which() == 'indi':
LaC = LatControlINDI(CP)
elif CP.lateralTuning.which() == 'lqr':
LaC = LatControlLQR(CP)
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
mismatch_counter = 0
can_error_counter = 0
last_blinker_frame = 0
saturated_count = 0
events_prev = []
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
sm['thermal'].freeSpace = 1.
sm['dMonitoringState'].events = []
sm['dMonitoringState'].awarenessStatus = 1.
sm['dMonitoringState'].faceDetected = False
# detect sound card presence
sounds_available = not os.path.isfile('/EON') or (
os.path.isdir('/proc/asound/card0')
and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(
CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter,
params)
prof.checkpoint("Sample")
# Create alerts
if not sm.alive['plan'] and sm.alive[
'pathPlan']: # only plan not being received: radar not communicating
events.append(
create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
elif not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid and os.getenv("NOSENSOR") is None:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['pathPlan'].posenetValid:
events.append(
create_event('posenetInvalid', [ET.NO_ENTRY, ET.WARNING]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sounds_available:
events.append(
create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
if internet_needed:
events.append(
create_event('internetConnectivityNeeded',
[ET.NO_ENTRY, ET.PERMANENT]))
if community_feature_disallowed:
events.append(
create_event('communityFeatureDisallowed', [ET.PERMANENT]))
if read_only and not passive:
events.append(create_event('carUnrecognized', [ET.PERMANENT]))
if log.HealthData.FaultType.relayMalfunction in sm['health'].faults:
events.append(
create_event(
'relayMalfunction',
[ET.NO_ENTRY, ET.PERMANENT, ET.IMMEDIATE_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, v_acc, a_acc, lac_log, last_blinker_frame, saturated_count = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, AM, LaC, LoC,
read_only, start_time, v_acc, a_acc,
lac_log, events_prev, last_blinker_frame,
is_ldw_enabled, can_error_counter)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
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 controlsd_thread(gctx=None, rate=100, default_bias=0.):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# pub
live100 = messaging.pub_sock(context, service_list['live100'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
if not passive:
while 1:
try:
sendcan = messaging.pub_sock(context,
service_list['sendcan'].port)
break
except zmq.error.ZMQError:
kill_defaultd()
else:
sendcan = None
# sub
poller = zmq.Poller()
thermal = messaging.sub_sock(context,
service_list['thermal'].port,
conflate=True,
poller=poller)
health = messaging.sub_sock(context,
service_list['health'].port,
conflate=True,
poller=poller)
cal = messaging.sub_sock(context,
service_list['liveCalibration'].port,
conflate=True,
poller=poller)
driver_monitor = messaging.sub_sock(context,
service_list['driverMonitoring'].port,
conflate=True,
poller=poller)
gps_location = messaging.sub_sock(context,
service_list['gpsLocationExternal'].port,
conflate=True,
poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
fcw_enabled = params.get("IsFcwEnabled") == "1"
geofence = None
PL = Planner(CP, fcw_enabled)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(VM)
AM = AlertManager()
driver_status = DriverStatus()
if not passive:
AM.add("startup", False)
# write CarParams
params.put("CarParams", CP.to_bytes())
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
# learned angle offset
angle_offset = default_bias
calibration_params = params.get("CalibrationParams")
if calibration_params:
try:
calibration_params = json.loads(calibration_params)
angle_offset = calibration_params["angle_offset2"]
except (ValueError, KeyError):
pass
prof = Profiler(False) # off by default
while 1:
prof.checkpoint("Ratekeeper", ignore=True)
# sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(
CI, CC, thermal, cal, health, driver_monitor, gps_location, poller,
cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, geofence, state, mismatch_counter, params)
prof.checkpoint("Sample")
# define plan
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph,
driver_status, geofence)
prof.checkpoint("Plan")
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# compute actuators
actuators, v_cruise_kph, driver_status, angle_offset = state_control(
plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM,
rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive,
is_metric, cal_perc)
prof.checkpoint("State Control")
# publish data
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM,
state, events, actuators, v_cruise_kph, rk, carstate,
carcontrol, live100, livempc, AM, driver_status, LaC,
LoC, angle_offset, passive)
prof.checkpoint("Sent")
# *** run loop at fixed rate ***
rk.keep_time()
prof.display()
def controlsd_thread(gctx=None):
setproctitle('controlsd')
params = Params()
print(params)
# Pub Sockets
profiler = Profiler(True, 'controls')
sendcan = messaging.pub_sock(service_list['sendcan'].port)
controlsstate = messaging.pub_sock(service_list['controlsState'].port)
carstate = None #messaging.pub_sock(service_list['carState'].port)
carcontrol = messaging.pub_sock(service_list['carControl'].port)
carevents = messaging.pub_sock(service_list['carEvents'].port)
carparams = messaging.pub_sock(service_list['carParams'].port)
sm = messaging.SubMaster(['pathPlan', 'health', 'gpsLocationExternal'])
can_sock = messaging.sub_sock(service_list['can'].port)
hw_type = messaging.recv_one(sm.sock['health']).health.hwType
is_panda_black = hw_type == log.HealthData.HwType.blackPanda
print("panda black: ", is_panda_black)
wait_for_can(can_sock)
CI, CP = get_car(can_sock, sendcan, is_panda_black)
#logcan.close()
# TODO: Use the logcan socket from above, but that will currenly break the tests
#can_timeout = None #if os.environ.get('NO_CAN_TIMEOUT', False) else 100
#can_sock = messaging.sub_sock(service_list['can'].port, timeout=can_timeout)
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message()
AM = AlertManager()
startup_alert = get_startup_alert(True, True)
AM.add(sm.frame, startup_alert, False)
LaC = LatControlPID(CP)
lateral = Lateral(CP)
lkasMode = int(float(LaC.kegman.conf['lkasMode']))
#CI.CS.lkasMode = (lkasMode == 0)
lac_log = None #car.CarState.lateralControlState.pidState.new_message()
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
events_prev = []
frame = 0
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
while True:
start_time = 0 # time.time() #sec_since_boot()
# Sample data and compute car events
CS, events = data_sample(CI, CC, can_sock, carstate, lac_log, lateral,
sm, profiler)
profiler.checkpoint('data_sample')
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
profiler.checkpoint('state_transition')
# Compute actuators (runs PID loops and lateral MPC)
sm.update(0)
profiler.checkpoint('sm_update')
actuators, lac_log = state_control(sm.frame, lkasMode, sm['pathPlan'],
CS, CP, state, events, AM, LaC,
lac_log, profiler)
profiler.checkpoint('state_control')
# Publish data
CC, events_prev = data_send(sm, CS, CI, CP, state, events, actuators,
carstate, carcontrol, carevents, carparams,
controlsstate, sendcan, AM, LaC,
start_time, lac_log, events_prev, profiler)
profiler.checkpoint('data_send')
frame += 1
if frame % 10000 == 0 and profiler.enabled:
profiler.display()
profiler.reset(True)
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 controlsd_thread(gctx=None, rate=100, default_bias=0.):
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# pub
live100 = messaging.pub_sock(context, service_list['live100'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
passive = params.get("Passive") != "0"
if not passive:
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
else:
sendcan = None
# sub
poller = zmq.Poller()
thermal = messaging.sub_sock(context, service_list['thermal'].port, conflate=True, poller=poller)
health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if passive:
CP.safetyModel = car.CarParams.SafetyModels.honda
fcw_enabled = params.get("IsFcwEnabled") == "1"
PL = Planner(CP, fcw_enabled)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(VM)
AM = AlertManager()
if not passive:
AM.add("startup", False)
# write CarParams
params.put("CarParams", CP.to_bytes())
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
overtemp = False
free_space = False
cal_status = Calibration.UNCALIBRATED
rear_view_toggle = False
rear_view_allowed = params.get("IsRearViewMirror") == "1"
# 0.0 - 1.0
awareness_status = 1.
v_cruise_kph_last = 0
rk = Ratekeeper(rate, print_delay_threshold=2./1000)
# learned angle offset
angle_offset = default_bias
calibration_params = params.get("CalibrationParams")
if calibration_params:
try:
calibration_params = json.loads(calibration_params)
angle_offset = calibration_params["angle_offset2"]
except (ValueError, KeyError):
pass
prof = Profiler(False) # off by default
while 1:
prof.checkpoint("Ratekeeper", ignore=True)
# sample data and compute car events
CS, events, cal_status, overtemp, free_space = data_sample(CI, CC, thermal, cal, health, poller, cal_status,
overtemp, free_space)
prof.checkpoint("Sample")
# define plan
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph, awareness_status)
prof.checkpoint("Plan")
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = state_transition(CS, CP, state, events, soft_disable_timer,
v_cruise_kph, AM)
prof.checkpoint("State transition")
# compute actuators
actuators, v_cruise_kph, awareness_status, angle_offset, rear_view_toggle = state_control(plan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, awareness_status, PL, LaC, LoC, VM,
angle_offset, rear_view_allowed, rear_view_toggle, passive)
prof.checkpoint("State Control")
# publish data
CC = data_send(plan, plan_ts, CS, CI, CP, VM, state, events, actuators, v_cruise_kph,
rk, carstate, carcontrol, live100, livempc, AM, rear_view_allowed,
rear_view_toggle, awareness_status, LaC, LoC, angle_offset, passive)
prof.checkpoint("Sent")
# *** run loop at fixed rate ***
rk.keep_time()
prof.display()
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 __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4, 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")
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
if TICI:
self.log_sock = messaging.sub_sock('androidLog')
if CI is None:
# 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'])
else:
self.CI, self.CP = CI, CI.CP
params = Params()
self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
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'])
# set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# read params
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
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
self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly
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.CS_prev = car.CarState.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, self.CI)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI)
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.cruise_mismatch_counter = 0
self.can_rcv_error_counter = 0
self.last_blinker_frame = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message()
# scc smoother
self.is_cruise_enabled = False
self.applyMaxSpeed = 0
self.apply_accel = 0.
self.fused_accel = 0.
self.lead_drel = 0.
self.aReqValue = 0.
self.aReqValueMin = 0.
self.aReqValueMax = 0.
self.sccStockCamStatus = 0
self.sccStockCamAct = 0
self.left_lane_visible = False
self.right_lane_visible = False
self.wide_camera = TICI and params.get_bool('EnableWideCamera')
self.disable_op_fcw = params.get_bool('DisableOpFcw')
self.mad_mode_enabled = Params().get_bool('MadModeEnabled')
# 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 not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
if len(self.CP.carFw) > 0:
set_offroad_alert("Offroad_CarUnrecognized", True)
else:
set_offroad_alert("Offroad_NoFirmware", 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 steer_thread():
poller = zmq.Poller()
logcan = messaging.sub_sock(service_list['can'].port)
joystick_sock = messaging.sub_sock(service_list['testJoystick'].port,
conflate=True,
poller=poller)
carstate = messaging.pub_sock(service_list['carState'].port)
carcontrol = messaging.pub_sock(service_list['carControl'].port)
sendcan = messaging.pub_sock(service_list['sendcan'].port)
button_1_last = 0
enabled = False
CI, CP = get_car(logcan, sendcan)
CC = car.CarControl.new_message()
joystick = messaging.recv_one(joystick_sock)
while True:
# send
for socket, event in poller.poll(0):
if socket is joystick_sock:
joystick = messaging.recv_one(socket)
can_strs = messaging.drain_sock_raw(logcan, wait_for_one=True)
CS = CI.update(CC, can_strs)
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
actuators = car.CarControl.Actuators.new_message()
axis_3 = clip(-joystick.testJoystick.axes[3] * 1.05, -1.,
1.) # -1 to 1
actuators.steer = axis_3
actuators.steerAngle = axis_3 * 43. # deg
axis_1 = clip(-joystick.testJoystick.axes[1] * 1.05, -1.,
1.) # -1 to 1
actuators.gas = max(axis_1, 0.)
actuators.brake = max(-axis_1, 0.)
pcm_cancel_cmd = joystick.testJoystick.buttons[0]
button_1 = joystick.testJoystick.buttons[1]
if button_1 and not button_1_last:
enabled = not enabled
button_1_last = button_1
#print "enable", enabled, "steer", actuators.steer, "accel", actuators.gas - actuators.brake
hud_alert = 0
audible_alert = 0
if joystick.testJoystick.buttons[2]:
audible_alert = "beepSingle"
if joystick.testJoystick.buttons[3]:
audible_alert = "chimeRepeated"
hud_alert = "steerRequired"
CC.actuators.gas = actuators.gas
CC.actuators.brake = actuators.brake
CC.actuators.steer = actuators.steer
CC.actuators.steerAngle = actuators.steerAngle
CC.hudControl.visualAlert = hud_alert
CC.hudControl.setSpeed = 20
CC.cruiseControl.cancel = pcm_cancel_cmd
CC.enabled = enabled
can_sends = CI.apply(CC)
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
# broadcast carState
cs_send = messaging.new_message()
cs_send.init('carState')
cs_send.carState = copy(CS)
carstate.send(cs_send.to_bytes())
# broadcast carControl
cc_send = messaging.new_message()
cc_send.init('carControl')
cc_send.carControl = copy(CC)
carcontrol.send(cc_send.to_bytes())
# Limit to 100 frames per second
time.sleep(0.01)
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 ['ubloxd']
self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'],
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)
# wait for one pandaState and one CAN packet
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'])
# read params
params = Params()
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
self.enable_lte_onroad = params.get_bool("EnableLteOnroad")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") or not openpilot_enabled_toggle
self.commIssue_ignored = params.get_bool("ComIssueGone")
self.auto_enabled = params.get_bool("AutoEnable") and params.get_bool("MadModeEnabled")
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
fuzzy_fingerprint = self.CP.fuzzyFingerprint
# 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 = self.CP.communityFeature or fuzzy_fingerprint
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:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# 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.CI.compute_gb, candidate)
self.VM = VehicleModel(self.CP)
self.lateral_control_method = 0
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
self.lateral_control_method = 3
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
self.lateral_control_method = 0
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
self.lateral_control_method = 1
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.lateral_control_method = 2
self.long_plan_source = 0
self.controlsAllowed = False
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
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
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
self.hyundai_lkas = self.read_only #read_only
self.mpc_frame = 0
self.steerRatio_Max = float(int(params.get("SteerRatioMaxAdj", encoding="utf8")) * 0.1)
self.angle_differ_range = [0, 15]
self.steerRatio_range = [self.CP.steerRatio, self.steerRatio_Max]
self.new_steerRatio = self.CP.steerRatio
self.new_steerRatio_prev = self.CP.steerRatio
self.steerRatio_to_send = 0
self.model_long_alert_prev = True
self.delayed_comm_issue_timer = 0
def controlsd_thread(gctx=None, rate=100, default_bias=0.):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# pub
live100 = messaging.pub_sock(context, service_list['live100'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
livempc = messaging.pub_sock(context, service_list['liveMpc'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
if not passive:
while 1:
try:
sendcan = messaging.pub_sock(context,
service_list['sendcan'].port)
break
except zmq.error.ZMQError:
kill_defaultd()
else:
sendcan = None
# sub
poller = zmq.Poller()
thermal = messaging.sub_sock(context,
service_list['thermal'].port,
conflate=True,
poller=poller)
health = messaging.sub_sock(context,
service_list['health'].port,
conflate=True,
poller=poller)
cal = messaging.sub_sock(context,
service_list['liveCalibration'].port,
conflate=True,
poller=poller)
driver_monitor = messaging.sub_sock(context,
service_list['driverMonitoring'].port,
conflate=True,
poller=poller)
gps_location = messaging.sub_sock(context,
service_list['gpsLocationExternal'].port,
conflate=True,
poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
fcw_enabled = params.get("IsFcwEnabled") == "1"
geofence = None
PL = Planner(CP, fcw_enabled)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
LaC = LatControl(VM)
AM = AlertManager()
driver_status = DriverStatus()
if not passive:
AM.add("startup", False)
# write CarParams
params.put("CarParams", CP.to_bytes())
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
# learned angle offset
angle_offset = default_bias
calibration_params = params.get("CalibrationParams")
if calibration_params:
try:
calibration_params = json.loads(calibration_params)
angle_offset = calibration_params["angle_offset2"]
except (ValueError, KeyError):
pass
prof = Profiler(False) # off by default
# Setup for real-time tuning
rt_tuning_file = '/data/.openpilot_rtt_params.pkl'
rtt_params = {}
last_mod_time = 0
while 1:
prof.checkpoint("Ratekeeper", ignore=True)
# sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter = data_sample(
CI, CC, thermal, cal, health, driver_monitor, gps_location, poller,
cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, geofence, state, mismatch_counter, params)
prof.checkpoint("Sample")
# define plan
plan, plan_ts = calc_plan(CS, CP, events, PL, LaC, LoC, v_cruise_kph,
driver_status, geofence)
prof.checkpoint("Plan")
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# compute actuators
actuators, v_cruise_kph, driver_status, angle_offset = state_control(
plan, CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM,
rk, driver_status, PL, LaC, LoC, VM, angle_offset, passive,
is_metric, cal_perc)
prof.checkpoint("State Control")
# publish data
CC = data_send(PL.perception_state, plan, plan_ts, CS, CI, CP, VM,
state, events, actuators, v_cruise_kph, rk, carstate,
carcontrol, live100, livempc, AM, driver_status, LaC,
LoC, angle_offset, passive)
prof.checkpoint("Sent")
###################### Real-Time Tuning Add-on ########################
# TODO: Move this into it's own function to clean things up
# TODO: Need to delay until fingerprint, or is this after already?
# Run this once per second... on frame 29, of course.
if rk.frame % 100 == 29:
# Get the last update time of our real-time tuning file
#print('Real-Time Tuning: Checking tuning file modification time.')
try:
mod_time = os.path.getmtime(rt_tuning_file)
#print('RTT mod_time: {0}'.format(mod_time))
except OSError:
# File doesn't exist or is inaccessible
mod_time = None
print(
'Real-Time Tuning: RT_TUNING_FILE did not exist or was inaccessible.'
)
# If rt_tuning_file doesn't exist, then create it from the current CarParams:
if mod_time is None:
rtt_params['steerKpBP'] = list(
CP.steerKpBP
) # Note that the Kp/Ki are lists! But if you reference them directly they are <capnp list builder []>.. oops.
rtt_params['steerKpV'] = list(CP.steerKpV)
rtt_params['steerKiBP'] = list(CP.steerKiBP)
rtt_params['steerKiV'] = list(CP.steerKiV)
rtt_params['steerKf'] = CP.steerKf
# TODO: Give the option to link the front and rear tire stiffness changes together
rtt_params['tireStiffnessFront'] = CP.tireStiffnessFront
rtt_params['tireStiffnessRear'] = CP.tireStiffnessRear
rtt_params['steerRatio'] = CP.steerRatio
rtt_params['steerRateCost'] = CP.steerRateCost
rtt_params['latPidDeadzone'] = 0.0
rtt_params['steerActuatorDelay'] = CP.steerActuatorDelay
# rtt_params['Camera Offset'] = PL.PP.cam_offset
# Write the pickle file
# TODO: try/except the open
with open(rt_tuning_file, "wb") as f_write:
pickle.dump(
rtt_params, f_write,
-1) # Dump to file with highest protocol (fastest)
# No need to update next time if we just wrote the file out...
last_mod_time = os.path.getmtime(rt_tuning_file)
#print('RTT Last_mod_time: {0}'.format(last_mod_time))
# If file exists and has been updated since the last time we read it in
elif last_mod_time != mod_time:
print(
'Real-Time Tuning: Reading in the modified tuning file.')
# Read in parameters from file
# TODO: try/except the open
with open(rt_tuning_file, "rb") as f_read:
rtt_params = pickle.load(f_read)
# Sanity check the data before setting it.. format is [min, max, failsafe]
# Failsafe is used if a value is not found or if the value sent is out of the range limits
rt_data_limits = {
'steerKpBP': [0.0, 67.0, 0.0],
'steerKpV': [0.0, 1.0, 0.2],
'steerKiBP': [0.0, 67.0, 0.0],
'steerKiV': [0.0, 1.0, 0.05],
'steerKf': [0.0, 0.001, 0.00005],
'tireStiffnessFront': [20000, 1000000, 192150],
'tireStiffnessRear': [20000, 1000000, 202500],
'steerRatio': [8.0, 25.0, 14.0],
'steerRateCost': [0.05, 1.0, 0.5],
'latPidDeadzone': [0.0, 4.0, 0.0],
'steerActuatorDelay': [0.0, 0.5, 0.1]
# 'Camera Offset': [ -0.2, 0.2, 0.06 ]
}
# Do the checks and set the values
for key in rt_data_limits:
rt_val = rtt_params.get(key)
if rt_val is None:
# If this key from data limits doesn't exist in our tuning data, then add it as the failsafe
# TODO: Use CP value here instead of failsafe?
rtt_params[key] = rt_data_limits[key][2]
print(
'Real-Time Tuning: Value did not exist in tuning file, replaced with failsafe. Key: '
+ key)
continue
# If it does exist, then check the values. First see if it's a list
try:
# If it's an iterable list...
for i, val2 in enumerate(rt_val):
# Check each value in the list
if (val2 < rt_data_limits[key][0]) or (
val2 > rt_data_limits[key][1]):
rt_val[i] = rt_data_limits[key][2]
print(
'Real-Time Tuning: Invalid value replaced! Key: '
+ key)
except:
# Not interable, compare it and fix if necessary
if (rt_val < rt_data_limits[key][0]) or (
rt_val > rt_data_limits[key][1]):
rt_val = rt_data_limits[key][2]
print(
'Real-Time Tuning: Invalid value replaced! Key: '
+ key)
# Set it back so if anything was fixed we have the updated value
rtt_params[key] = rt_val
# Update CP with the new params
CP.steerKpBP = rtt_params['steerKpBP']
CP.steerKpV = rtt_params['steerKpV']
CP.steerKiBP = rtt_params['steerKiBP']
CP.steerKiV = rtt_params['steerKiV']
CP.steerKf = rtt_params['steerKf']
CP.tireStiffnessFront = rtt_params['tireStiffnessFront']
CP.tireStiffnessRear = rtt_params['tireStiffnessRear']
CP.steerRatio = rtt_params['steerRatio']
CP.steerActuatorDelay = rtt_params['steerActuatorDelay']
if CP.steerRateCost != rtt_params['steerRateCost']:
print(CP.steerRateCost)
print(rtt_params['steerRateCost'])
CP.steerRateCost = rtt_params['steerRateCost']
rt_mpc_flag = True
print(
'Real-Time Tuning: CP.steerRateCost changed - Re-initializing lateral MPC.'
)
else:
rt_mpc_flag = False
# TODO: try/except the open
# Write the pickle file back so if we fixed any data errors the revised values will show up on the client-side
with open(rt_tuning_file, "wb") as f_write:
pickle.dump(
rtt_params, f_write,
-1) # Dump to file with highest protocol (fastest)
# Set the last modified time to this write.... we don't need to read back in what we just wrote out
# Only set this if we were able to successfully make the write (once the try/except is added)
last_mod_time = os.path.getmtime(rt_tuning_file)
# Make updates in latcontrol, etc. I'm not sure if this is actually necessary, depends on if the objects are referenced or not. Anyway, one less thing to debug atm.
VM.update_rt_params(CP)
LaC.update_rt_params(VM,
rt_mpc_flag,
deadzone=rtt_params['latPidDeadzone'])
#PL.PP.update_rt_params(rtt_params['Camera Offset'])
#print('RTT Last_mod_time: {0}'.format(last_mod_time))
####### END OF REAL-TIME TUNING ADD-ON #######
# *** run loop at fixed rate ***
rk.keep_time()
prof.display()
passive = False
# ***** connect to joystick *****
# USB Gamepad Controller
dev = InputDevice("/dev/input/event1")
print "USB Controller"
print dev
button_values = [0] * 13
axis_values = [0] * 7
# ***** connect to car *****
context = zmq.Context()
logcan = messaging.sub_sock(context, service_list['can'].port)
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
AM = AlertManager()
rk = Ratekeeper(100)
while 1:
# **** handle joystick ****
r, w, x = select([dev], [], [], 0.0)
if dev in r:
for event in dev.read():
print "USB Controller event"
print event
## Button events
if event.type == 1:
# 287 is base id-1 for first button
btn = event.code - 287
def steer_thread():
poller = messaging.Poller()
logcan = messaging.sub_sock('can')
health = messaging.sub_sock('health')
joystick_sock = messaging.sub_sock('testJoystick',
conflate=True,
poller=poller)
carstate = messaging.pub_sock('carState')
carcontrol = messaging.pub_sock('carControl')
sendcan = messaging.pub_sock('sendcan')
button_1_last = 0
enabled = False
# wait for health and CAN packets
hw_type = messaging.recv_one(health).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
print("Waiting for CAN messages...")
messaging.get_one_can(logcan)
CI, CP = get_car(logcan, sendcan, has_relay)
Params().put("CarParams", CP.to_bytes())
CC = car.CarControl.new_message()
while True:
# send
joystick = messaging.recv_one(joystick_sock)
can_strs = messaging.drain_sock_raw(logcan, wait_for_one=True)
CS = CI.update(CC, can_strs)
# Usually axis run in pairs, up/down for one, and left/right for
# the other.
actuators = car.CarControl.Actuators.new_message()
if joystick is not None:
axis_3 = clip(-joystick.testJoystick.axes[3] * 1.05, -1.,
1.) # -1 to 1
actuators.steer = axis_3
actuators.steerAngle = axis_3 * 43. # deg
axis_1 = clip(-joystick.testJoystick.axes[1] * 1.05, -1.,
1.) # -1 to 1
actuators.gas = max(axis_1, 0.)
actuators.brake = max(-axis_1, 0.)
pcm_cancel_cmd = joystick.testJoystick.buttons[0]
button_1 = joystick.testJoystick.buttons[1]
if button_1 and not button_1_last:
enabled = not enabled
button_1_last = button_1
#print "enable", enabled, "steer", actuators.steer, "accel", actuators.gas - actuators.brake
hud_alert = 0
if joystick.testJoystick.buttons[3]:
hud_alert = "steerRequired"
CC.actuators.gas = actuators.gas
CC.actuators.brake = actuators.brake
CC.actuators.steer = actuators.steer
CC.actuators.steerAngle = actuators.steerAngle
CC.hudControl.visualAlert = hud_alert
CC.hudControl.setSpeed = 20
CC.cruiseControl.cancel = pcm_cancel_cmd
CC.enabled = enabled
can_sends = CI.apply(CC)
sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan'))
# broadcast carState
cs_send = messaging.new_message('carState')
cs_send.carState = copy(CS)
carstate.send(cs_send.to_bytes())
# broadcast carControl
cc_send = messaging.new_message('carControl')
cc_send.carControl = copy(CC)
carcontrol.send(cc_send.to_bytes())
def controlsd_thread(sm=None, pm=None, can_sock=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl', 'carEvents',
'carParams'
])
if sm is None:
sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan', \
'gpsLocation'], ignore_alive=['gpsLocation'])
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
can_sock = messaging.sub_sock(service_list['can'].port,
timeout=can_timeout)
# wait for health and CAN packets
hw_type = messaging.recv_one(sm.sock['health']).health.hwType
is_panda_black = hw_type == log.HealthData.HwType.blackPanda
print("Waiting for CAN messages...")
get_one_can(can_sock)
CI, CP = get_car(can_sock, pm.sock['sendcan'], is_panda_black)
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
read_only = not car_recognized or not controller_available or CP.dashcamOnly
if read_only:
CP.safetyModel = CP.safetyModelPassive
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message()
AM = AlertManager()
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
elif CP.lateralTuning.which() == 'indi':
LaC = LatControlINDI(CP)
elif CP.lateralTuning.which() == 'lqr':
LaC = LatControlLQR(CP)
driver_status = DriverStatus()
is_rhd = params.get("IsRHD")
if is_rhd is not None:
driver_status.is_rhd = bool(int(is_rhd))
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
events_prev = []
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
# detect sound card presence
sounds_available = not os.path.isfile('/EON') or (
os.path.isdir('/proc/asound/card0')
and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter =\
data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, state, mismatch_counter, params)
prof.checkpoint("Sample")
# Create alerts
if not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['pathPlan'].posenetValid:
events.append(
create_event('posenetInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sounds_available:
events.append(
create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, AM,
driver_status, LaC, LoC, read_only,
start_time, v_acc, a_acc, lac_log,
events_prev)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
def controlsd_thread(gctx=None):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# Pub Sockets
controlsstate = messaging.pub_sock(context,
service_list['controlsState'].port)
carstate = messaging.pub_sock(context, service_list['carState'].port)
carcontrol = messaging.pub_sock(context, service_list['carControl'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
# Sub sockets
poller = zmq.Poller()
thermal = messaging.sub_sock(context,
service_list['thermal'].port,
conflate=True,
poller=poller)
health = messaging.sub_sock(context,
service_list['health'].port,
conflate=True,
poller=poller)
cal = messaging.sub_sock(context,
service_list['liveCalibration'].port,
conflate=True,
poller=poller)
driver_monitor = messaging.sub_sock(context,
service_list['driverMonitoring'].port,
conflate=True,
poller=poller)
plan_sock = messaging.sub_sock(context,
service_list['plan'].port,
conflate=True,
poller=poller)
path_plan_sock = messaging.sub_sock(context,
service_list['pathPlan'].port,
conflate=True,
poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan)
AM = AlertManager()
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
read_only = not car_recognized or not controller_available
if read_only:
CP.safetyModel = car.CarParams.SafetyModels.elm327 # diagnostic only
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
else:
LaC = LatControlINDI(CP)
driver_status = DriverStatus()
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
rcv_times = defaultdict(int)
plan = messaging.new_message()
plan.init('plan')
path_plan = messaging.new_message()
path_plan.init('pathPlan')
path_plan.pathPlan.sensorValid = True
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
controls_params = params.get("ControlsParams")
# Read angle offset from previous drive
angle_model_bias = 0.
if controls_params is not None:
try:
controls_params = json.loads(controls_params)
angle_model_bias = controls_params['angle_model_bias']
except (ValueError, KeyError):
pass
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan =\
data_sample(rcv_times, CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor,
poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status,
state, mismatch_counter, params, plan, path_plan)
prof.checkpoint("Sample")
# Create alerts
path_plan_age = start_time - rcv_times['pathPlan']
plan_age = start_time - rcv_times['plan']
if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5:
events.append(
create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not path_plan.pathPlan.sensorValid:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not path_plan.pathPlan.paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not path_plan.pathPlan.modelValid:
events.append(
create_event('modelCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not plan.plan.radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if plan.plan.radarCommIssue:
events.append(
create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and plan.plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc, a_acc, lac_log = \
state_control(rcv_times, plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status,
LaC, LoC, VM, angle_model_bias, read_only, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, carstate, carcontrol,
controlsstate, sendcan, AM, driver_status, LaC, LoC,
angle_model_bias, read_only, start_time, v_acc, a_acc,
lac_log)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
def controlsd_thread(gctx=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
# Pub Sockets
sendcan = messaging.pub_sock(service_list['sendcan'].port)
controlsstate = messaging.pub_sock(service_list['controlsState'].port)
carstate = messaging.pub_sock(service_list['carState'].port)
carcontrol = messaging.pub_sock(service_list['carControl'].port)
carevents = messaging.pub_sock(service_list['carEvents'].port)
carparams = messaging.pub_sock(service_list['carParams'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
sm = messaging.SubMaster([
'thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan',
'pathPlan'
])
logcan = messaging.sub_sock(service_list['can'].port)
CI, CP = get_car(logcan, sendcan)
logcan.close()
# TODO: Use the logcan socket from above, but that will currenly break the tests
can_sock = messaging.sub_sock(service_list['can'].port, timeout=100)
CC = car.CarControl.new_message()
AM = AlertManager()
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
read_only = not car_recognized or not controller_available
if read_only:
CP.safetyModel = car.CarParams.SafetyModel.elm327 # diagnostic only
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
else:
LaC = LatControlINDI(CP)
driver_status = DriverStatus()
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
events_prev = []
sm['pathPlan'].sensorValid = True
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter =\
data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, state, mismatch_counter, params)
prof.checkpoint("Sample")
# Create alerts
if not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, carstate,
carcontrol, carevents, carparams,
controlsstate, sendcan, AM, driver_status,
LaC, LoC, read_only, start_time, v_acc,
a_acc, lac_log, events_prev)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
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, 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