def plannerd_thread(gctx):
context = zmq.Context()
poller = zmq.Poller()
carstate = messaging.sub_sock(context, service_list['carState'].port, poller)
live20 = messaging.sub_sock(context, service_list['live20'].port)
model = messaging.sub_sock(context, service_list['model'].port)
plan = messaging.pub_sock(context, service_list['plan'].port)
# wait for stats about the car to come in from controls
cloudlog.info("plannerd is waiting for CarParams")
CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
cloudlog.info("plannerd got CarParams")
CS = None
PP = PathPlanner(model)
AC = AdaptiveCruise(live20)
# start the loop
set_realtime_priority(2)
# this runs whenever we get a packet that can change the plan
while True:
polld = poller.poll(timeout=1000)
for sock, mode in polld:
if mode != zmq.POLLIN or sock != carstate:
continue
cur_time = sec_since_boot()
CS = messaging.recv_sock(carstate).carState
PP.update(cur_time, CS.vEgo)
# LoC.v_pid -> CS.vEgo
# TODO: is this change okay?
AC.update(cur_time, CS.vEgo, CS.steeringAngle, CS.vEgo, CP)
# **** send the plan ****
plan_send = messaging.new_message()
plan_send.init('plan')
# lateral plan
plan_send.plan.lateralValid = not PP.dead
if plan_send.plan.lateralValid:
plan_send.plan.dPoly = map(float, PP.d_poly)
# longitudal plan
plan_send.plan.longitudinalValid = not AC.dead
if plan_send.plan.longitudinalValid:
plan_send.plan.vTarget = float(AC.v_target_lead)
plan_send.plan.aTargetMin = float(AC.a_target[0])
plan_send.plan.aTargetMax = float(AC.a_target[1])
plan_send.plan.jerkFactor = float(AC.jerk_factor)
plan_send.plan.hasLead = AC.has_lead
plan.send(plan_send.to_bytes())
def __init__(self, CP):
context = zmq.Context()
self.CP = CP
self.live20 = messaging.sub_sock(context, service_list['live20'].port)
self.model = messaging.sub_sock(context, service_list['model'].port)
self.plan = messaging.pub_sock(context, service_list['plan'].port)
self.last_md_ts = 0
self.last_l20_ts = 0
if os.getenv("OPT") is not None:
self.PP = OptPathPlanner(self.model)
else:
self.PP = PathPlanner()
self.AC = AdaptiveCruise()
self.FCW = ForwardCollisionWarning(_DT)
def __init__(self, CP):
context = zmq.Context()
self.CP = CP
self.live20 = messaging.sub_sock(context, service_list['live20'].port)
self.model = messaging.sub_sock(context, service_list['model'].port)
self.plan = messaging.pub_sock(context, service_list['plan'].port)
self.last_md_ts = 0
self.last_l20_ts = 0
self.last_model = 0.
self.last_l20 = 0.
self.model_dead = True
self.radar_dead = True
self.radar_errors = []
self.PP = PathPlanner()
self.AC = AdaptiveCruise()
self.FCW = ForwardCollisionWarning(_DT)
def controlsd_thread(gctx, rate=100): #rate in Hz
# *** log ***
context = zmq.Context()
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)
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
thermal = messaging.sub_sock(context, service_list['thermal'].port)
live20 = messaging.sub_sock(context, service_list['live20'].port)
model = messaging.sub_sock(context, service_list['model'].port)
health = messaging.sub_sock(context, service_list['health'].port)
logcan = messaging.sub_sock(context, service_list['can'].port)
# connects to can and sendcan
CI = CarInterface()
VP = CI.getVehicleParams()
PP = PathPlanner(model)
AC = AdaptiveCruise(live20)
AM = AlertManager()
LoC = LongControl()
LaC = LatControl()
# controls enabled state
enabled = False
last_enable_request = 0
# learned angle offset
angle_offset = 0
# rear view camera state
rear_view_toggle = False
v_cruise_kph = 255
# 0.0 - 1.0
awareness_status = 0.0
soft_disable_timer = None
# Is cpu temp too high to enable?
overtemp = False
free_space = 1.0
# start the loop
set_realtime_priority(2)
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
while 1:
prof = Profiler()
cur_time = sec_since_boot()
# read CAN
# CS = CI.update()
CS = car.CarState.new_message()
CS.vEgo = 13
for a in messaging.drain_sock(logcan):
CS.steeringAngle = a.carState.steeringAngle
# broadcast carState
cs_send = messaging.new_message()
cs_send.init('carState')
cs_send.carState = CS # copy?
carstate.send(cs_send.to_bytes())
prof.checkpoint("CarInterface")
# did it request to enable?
enable_request, enable_condition = False, False
if enabled:
# gives the user 6 minutes
# awareness_status -= 1.0/(100*60*6)
if awareness_status <= 0.:
# AM.add("driverDistracted", enabled)
awareness_status = 1.0
# reset awareness status on steering
if CS.steeringPressed:
awareness_status = 1.0
# handle button presses
for b in CS.buttonEvents:
print b
# reset awareness on any user action
awareness_status = 1.0
# button presses for rear view
if b.type == "leftBlinker" or b.type == "rightBlinker":
if b.pressed:
rear_view_toggle = True
else:
rear_view_toggle = False
if b.type == "altButton1" and b.pressed:
rear_view_toggle = not rear_view_toggle
if not VP.brake_only and enabled and not b.pressed:
if b.type == "accelCruise":
v_cruise_kph = v_cruise_kph - (
v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
elif b.type == "decelCruise":
v_cruise_kph = v_cruise_kph - (
v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
v_cruise_kph = clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
if not enabled and b.type in ["accelCruise", "decelCruise"
] and not b.pressed:
enable_request = True
# do disable on button down
if b.type == "cancel" and b.pressed:
AM.add("disable", enabled)
# Hack-hack
if not enabled:
enable_request = True
prof.checkpoint("Buttons")
# *** health checking logic ***
hh = messaging.recv_sock(health)
if hh is not None:
# if the board isn't allowing controls but somehow we are enabled!
if not hh.health.controlsAllowed and enabled:
AM.add("controlsMismatch", enabled)
# *** thermal checking logic ***
# thermal data, checked every second
td = messaging.recv_sock(thermal)
if False and td is not None:
# Check temperature.
overtemp = any(t > 950 for t in (td.thermal.cpu0, td.thermal.cpu1,
td.thermal.cpu2, td.thermal.cpu3,
td.thermal.mem, td.thermal.gpu))
# under 15% of space free
free_space = td.thermal.freeSpace
prof.checkpoint("Health")
# *** getting model logic ***
PP.update(cur_time, CS.vEgo)
if rk.frame % 5 == 2:
# *** run this at 20hz again ***
angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset,
np.asarray(PP.d_poly), LaC.y_des,
CS.steeringPressed)
# disable if the pedals are pressed while engaged, this is a user disable
if enabled:
if CS.gasPressed or CS.brakePressed:
AM.add("disable", enabled)
if enable_request:
# check for pressed pedals
if CS.gasPressed or CS.brakePressed:
AM.add("pedalPressed", enabled)
enable_request = False
else:
print "enabled pressed at", cur_time
last_enable_request = cur_time
# don't engage with less than 15% free
if free_space < 0.15:
AM.add("outOfSpace", enabled)
enable_request = False
if VP.brake_only:
enable_condition = ((cur_time - last_enable_request) <
0.2) and CS.cruiseState.enabled
else:
enable_condition = enable_request
if enable_request or enable_condition or enabled:
# add all alerts from car
for alert in CS.errors:
AM.add(alert, enabled)
if False and AC.dead:
AM.add("radarCommIssue", enabled)
if PP.dead:
AM.add("modelCommIssue", enabled)
if overtemp:
AM.add("overheat", enabled)
prof.checkpoint("Model")
if enable_condition and not enabled and not AM.alertPresent():
print "*** enabling controls"
# beep for enabling
AM.add("enable", enabled)
# enable both lateral and longitudinal controls
enabled = True
# on activation, let's always set v_cruise from where we are, even if PCM ACC is active
v_cruise_kph = int(
round(
max(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge,
V_CRUISE_ENABLE_MIN)))
# 6 minutes driver you're on
awareness_status = 1.0
# reset the PID loops
LaC.reset()
# start long control at actual speed
LoC.reset(v_pid=CS.vEgo)
if VP.brake_only and CS.cruiseState.enabled:
v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# *** put the adaptive in adaptive cruise control ***
AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid,
awareness_status, VP)
prof.checkpoint("AdaptiveCruise")
# *** gas/brake PID loop ***
final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
AC.v_target_lead, AC.a_target,
AC.jerk_factor, VP)
# *** steering PID loop ***
final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle,
CS.steeringPressed, PP.d_poly,
angle_offset, VP)
prof.checkpoint("PID")
# ***** handle alerts ****
# send a "steering required alert" if saturation count has reached the limit
if False and sat_flag:
AM.add("steerSaturated", enabled)
if enabled and AM.alertShouldDisable():
print "DISABLING IMMEDIATELY ON ALERT"
enabled = False
if enabled and AM.alertShouldSoftDisable():
if soft_disable_timer is None:
soft_disable_timer = 3 * rate
elif soft_disable_timer == 0:
print "SOFT DISABLING ON ALERT"
enabled = False
else:
soft_disable_timer -= 1
else:
soft_disable_timer = None
# *** push the alerts to current ***
alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(
cur_time)
# ***** control the car *****
CC = car.CarControl.new_message()
CC.enabled = enabled
CC.gas = float(final_gas)
CC.brake = float(final_brake)
CC.steeringTorque = float(final_steer)
CC.cruiseControl.override = True
CC.cruiseControl.cancel = bool(
(not VP.brake_only)
or (not enabled and CS.cruiseState.enabled
)) # always cancel if we have an interceptor
CC.cruiseControl.speedOverride = float((LoC.v_pid - .3) if (
VP.brake_only and final_brake == 0.) else 0.0)
CC.cruiseControl.accelOverride = float(AC.a_pcm)
CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = enabled
CC.hudControl.lanesVisible = enabled
CC.hudControl.leadVisible = bool(AC.has_lead)
CC.hudControl.visualAlert = visual_alert
CC.hudControl.audibleAlert = audible_alert
# this alert will apply next controls cycle
#if not CI.apply(CC):
# AM.add("controlsFailed", enabled)
# broadcast carControl
cc_send = messaging.new_message()
cc_send.init('carControl')
cc_send.carControl = CC # copy?
#carcontrol.send(cc_send.to_bytes())
sendcan.send(cc_send.to_bytes())
prof.checkpoint("CarControl")
# ***** publish state to logger *****
# publish controls state at 100Hz
dat = messaging.new_message()
dat.init('live100')
# show rear view camera on phone if in reverse gear or when button is pressed
dat.live100.rearViewCam = ('reverseGear'
in CS.errors) or rear_view_toggle
dat.live100.alertText1 = alert_text_1
dat.live100.alertText2 = alert_text_2
dat.live100.awarenessStatus = max(awareness_status,
0.0) if enabled else 0.0
# what packets were used to process
dat.live100.canMonoTimes = list(CS.canMonoTimes)
dat.live100.mdMonoTime = PP.logMonoTime
dat.live100.l20MonoTime = AC.logMonoTime
# if controls is enabled
dat.live100.enabled = enabled
# car state
dat.live100.vEgo = CS.vEgo
dat.live100.angleSteers = CS.steeringAngle
dat.live100.steerOverride = CS.steeringPressed
# longitudinal control state
dat.live100.vPid = float(LoC.v_pid)
dat.live100.vCruise = float(v_cruise_kph)
dat.live100.upAccelCmd = float(LoC.Up_accel_cmd)
dat.live100.uiAccelCmd = float(LoC.Ui_accel_cmd)
# lateral control state
dat.live100.yActual = float(LaC.y_actual)
dat.live100.yDes = float(LaC.y_des)
dat.live100.upSteer = float(LaC.Up_steer)
dat.live100.uiSteer = float(LaC.Ui_steer)
# processed radar state, should add a_pcm?
dat.live100.vTargetLead = float(AC.v_target_lead)
dat.live100.aTargetMin = float(AC.a_target[0])
dat.live100.aTargetMax = float(AC.a_target[1])
dat.live100.jerkFactor = float(AC.jerk_factor)
# lag
dat.live100.cumLagMs = -rk.remaining * 1000.
live100.send(dat.to_bytes())
prof.checkpoint("Live100")
# *** run loop at fixed rate ***
if rk.keep_time():
prof.display()
class Planner(object):
def __init__(self, CP):
context = zmq.Context()
self.CP = CP
self.live20 = messaging.sub_sock(context, service_list['live20'].port)
self.model = messaging.sub_sock(context, service_list['model'].port)
self.plan = messaging.pub_sock(context, service_list['plan'].port)
self.last_md_ts = 0
self.last_l20_ts = 0
if os.getenv("OPT") is not None:
self.PP = OptPathPlanner(self.model)
else:
self.PP = PathPlanner()
self.AC = AdaptiveCruise()
self.FCW = ForwardCollisionWarning(_DT)
# this runs whenever we get a packet that can change the plan
def update(self, CS, LoC):
#print "===>>> File: controls/lib/planner.py; FUnction: update"
cur_time = sec_since_boot()
md = messaging.recv_sock(self.model)
#print "============ Planner"
#print md
if md is not None:
self.last_md_ts = md.logMonoTime
# print "========= frameId"
# print md.model.frameId
# else:
# print "======== None"
l20 = messaging.recv_sock(self.live20)
if l20 is not None:
self.last_l20_ts = l20.logMonoTime
self.PP.update(cur_time, CS.vEgo, md)
# LoC.v_pid -> CS.vEgo
# TODO: is this change okay?
self.AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, self.CP,
l20)
# **** send the plan ****
plan_send = messaging.new_message()
plan_send.init('plan')
plan_send.plan.mdMonoTime = self.last_md_ts
plan_send.plan.l20MonoTime = self.last_l20_ts
# lateral plan
plan_send.plan.lateralValid = not self.PP.dead
if plan_send.plan.lateralValid:
plan_send.plan.dPoly = map(float, self.PP.d_poly)
#else:
#print "====================No Vision Data========"
# longitudal plan
plan_send.plan.longitudinalValid = not self.AC.dead
if plan_send.plan.longitudinalValid:
plan_send.plan.vTarget = float(self.AC.v_target_lead)
plan_send.plan.aTargetMin = float(self.AC.a_target[0])
plan_send.plan.aTargetMax = float(self.AC.a_target[1])
plan_send.plan.jerkFactor = float(self.AC.jerk_factor)
plan_send.plan.hasLead = self.AC.has_lead
# compute risk of collision events: fcw
self.FCW.process(CS, self.AC)
plan_send.plan.fcw = bool(self.FCW.active)
self.plan.send(plan_send.to_bytes())
return plan_send
class Planner(object):
def __init__(self, CP):
context = zmq.Context()
self.CP = CP
self.live20 = messaging.sub_sock(context, service_list['live20'].port)
self.model = messaging.sub_sock(context, service_list['model'].port)
self.plan = messaging.pub_sock(context, service_list['plan'].port)
self.last_md_ts = 0
self.last_l20_ts = 0
self.last_model = 0.
self.last_l20 = 0.
self.model_dead = True
self.radar_dead = True
self.radar_errors = []
self.PP = PathPlanner()
self.AC = AdaptiveCruise()
self.FCW = ForwardCollisionWarning(_DT)
# this runs whenever we get a packet that can change the plan
def update(self, CS, LoC):
cur_time = sec_since_boot()
md = messaging.recv_sock(self.model)
if md is not None:
self.last_md_ts = md.logMonoTime
self.last_model = cur_time
self.model_dead = False
if cur_time - self.last_model > 0.5:
self.model_dead = True
l20 = messaging.recv_sock(self.live20)
if l20 is not None:
self.last_l20_ts = l20.logMonoTime
self.last_l20 = cur_time
self.radar_dead = False
self.radar_errors = list(l20.live20.radarErrors)
if cur_time - self.last_l20 > 0.5:
self.radar_dead = True
self.PP.update(CS.vEgo, md)
# LoC.v_pid -> CS.vEgo
# TODO: is this change okay?
self.AC.update(CS.vEgo, CS.steeringAngle, LoC.v_pid, self.CP, l20)
# **** send the plan ****
plan_send = messaging.new_message()
plan_send.init('plan')
events = []
if self.model_dead:
events.append(
create_event('modelCommIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if self.radar_dead or 'commIssue' in self.radar_errors:
events.append(
create_event('radarCommIssue',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if 'fault' in self.radar_errors:
events.append(
create_event('radarFault',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
plan_send.plan.events = events
plan_send.plan.mdMonoTime = self.last_md_ts
plan_send.plan.l20MonoTime = self.last_l20_ts
# lateral plan
plan_send.plan.lateralValid = not self.model_dead
plan_send.plan.dPoly = map(float, self.PP.d_poly)
plan_send.plan.laneWidth = float(self.PP.lane_width)
# longitudal plan
plan_send.plan.longitudinalValid = not self.radar_dead
plan_send.plan.vTarget = float(self.AC.v_target_lead)
plan_send.plan.aTargetMin = float(self.AC.a_target[0])
plan_send.plan.aTargetMax = float(self.AC.a_target[1])
plan_send.plan.jerkFactor = float(self.AC.jerk_factor)
plan_send.plan.hasLead = self.AC.has_lead
# compute risk of collision events: fcw
self.FCW.process(CS, self.AC)
plan_send.plan.fcw = bool(self.FCW.active)
self.plan.send(plan_send.to_bytes())
return plan_send