def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc_next = 0.0
self.a_acc_next = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.source = Source.cruiseCoast
self.cruise_source = Source.cruiseCoast
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.fcw = False
self.params = Params()
self.kegman = kegman_conf()
self.mpc_frame = 0
self.first_loop = True
self.coast_enabled = True
def __init__(self, CP):
self.CP = CP
self.poller = zmq.Poller()
self.arne182Status = messaging.sub_sock(
service_list['arne182Status'].port,
poller=self.poller,
conflate=True)
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
def __init__(self, CP):
self.CP = CP
self.op_params = opParams()
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.mpc_model = LongitudinalMpcModel()
self.model_mpc_helper = ModelMpcHelper()
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc_next = 0.0
self.a_acc_next = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.solution = Solution(0., 0.)
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.fcw = False
self.params = Params()
self.first_loop = True
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.first_loop = True
# dp
self.dp_profile = DP_OFF
# dp - slow on curve from 0.7.6.1
self.dp_slow_on_curve = False
self.v_model = 0.0
self.a_model = 0.0
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc_next = 0.0
self.a_acc_next = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.fcw = False
self.params = Params()
self.first_loop = True
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
if not travis:
pm = messaging.PubMaster(['smiskolData']) # why is this here?
self.mpc1.set_pm(pm)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.first_loop = True
def __init__(self, CP, fcw_enabled):
context = zmq.Context()
self.CP = CP
self.poller = zmq.Poller()
self.lat_Control = messaging.sub_sock(context,
service_list['latControl'].port,
conflate=True,
poller=self.poller)
self.plan = messaging.pub_sock(context, service_list['plan'].port)
self.live_longitudinal_mpc = messaging.pub_sock(
context, service_list['liveLongitudinalMpc'].port)
self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc)
self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.fcw_enabled = fcw_enabled
self.lastlat_Control = None
self.params = Params()
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.first_loop = True
# dp
self.dragon_slow_on_curve = True
self.dragon_alt_accel_profile = False
self.dragon_fast_accel = False
self.dragon_accel_profile = AP_OFF
self.last_ts = 0.
self.dp_last_modified = None
def __init__(self, CP, fcw_enabled):
self.CP = CP
self.plan = messaging.pub_sock(service_list['plan'].port)
self.live_longitudinal_mpc = messaging.pub_sock(service_list['liveLongitudinalMpc'].port)
self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc)
self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.fcw_enabled = fcw_enabled
self.model_v_kf = KF1D([[0.0],[0.0]], _MODEL_V_A, _MODEL_V_C, _MODEL_V_K)
self.model_v_kf_ready = False
self.params = Params()
def __init__(self, CP):
self.CP = CP
self.op_params = opParams()
self.slowdown_for_curves = self.op_params.get('slowdown_for_curves')
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.mpc_model = LongitudinalMpcModel()
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.first_loop = True
def __init__(self, CP, fcw_enabled):
self.CP = CP
self.plan = messaging.pub_sock(service_list['plan'].port)
self.live_longitudinal_mpc = messaging.pub_sock(
service_list['liveLongitudinalMpc'].port)
self.mpc1 = LongitudinalMpc(1, self.live_longitudinal_mpc)
self.mpc2 = LongitudinalMpc(2, self.live_longitudinal_mpc)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.fcw_enabled = fcw_enabled
self.path_x = np.arange(192)
self.params = Params()
def __init__(self, CP):
self.CP = CP
self.op_params = opParams()
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.osm = True
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.first_loop = True
self.offset = 0
self.last_time = 0
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-DT_MDL / 2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.params = Params()
self.target_speed_map = 0
self.target_speed_map_dist = 0
self.target_speed_map_dist_prev = 0
self.target_speed_map_block = False
self.target_speed_map_sign = False
self.map_sign = 0
self.vego = 0
self.second = 0
self.map_enabled = False
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-DT_MDL / 2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
# dp
self.dp_accel_profile_ctrl = False
self.dp_accel_profile = DP_ACCEL_ECO
self.dp_following_profile_ctrl = False
self.dp_following_profile = 3
self.dp_following_dist = 1.8 # default val
def run_following_distance_simulation(v_lead, t_end=200.0):
dt = 0.2
t = 0.
x_lead = 200.0
x_ego = 0.0
v_ego = v_lead
a_ego = 0.0
v_cruise_setpoint = v_lead + 10.
pm = FakePubMaster()
mpc = LongitudinalMpc(1)
first = True
while t < t_end:
# Run cruise control
accel_limits = [
float(x) for x in calc_cruise_accel_limits(v_ego, False)
]
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
v_cruise, a_cruise = speed_smoother(v_ego, a_ego, v_cruise_setpoint,
accel_limits[1], accel_limits[0],
jerk_limits[1], jerk_limits[0], dt)
# Setup CarState
CS = messaging.new_message('carState')
CS.carState.vEgo = v_ego
CS.carState.aEgo = a_ego
# Setup lead packet
lead = log.RadarState.LeadData.new_message()
lead.status = True
lead.dRel = x_lead - x_ego
lead.vLead = v_lead
lead.aLeadK = 0.0
# Run MPC
mpc.set_cur_state(v_ego, a_ego)
if first: # Make sure MPC is converged on first timestep
for _ in range(20):
mpc.update(CS.carState, lead)
mpc.publish(pm)
mpc.update(CS.carState, lead)
mpc.publish(pm)
# Choose slowest of two solutions
if v_cruise < mpc.v_mpc:
v_ego, a_ego = v_cruise, a_cruise
else:
v_ego, a_ego = mpc.v_mpc, mpc.a_mpc
# Update state
x_lead += v_lead * dt
x_ego += v_ego * dt
t += dt
first = False
return x_lead - x_ego
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.mpc_model = LongitudinalMpcModel()
self.model_mpc_helper = ModelMpcHelper()
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc_next = 0.0
self.a_acc_next = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.fcw = False
self.params = Params()
self.first_loop = True
self.target_speed_map = 0.0
self.target_speed_map_counter = 0
self.target_speed_map_counter_check = False
self.target_speed_map_counter1 = 0
self.target_speed_map_counter2 = 0
self.target_speed_map_counter3 = 0
self.target_speed_map_dist = 0
self.target_speed_map_block = False
self.target_speed_map_sign = False
self.tartget_speed_offset = int(
self.params.get("OpkrSpeedLimitOffset", encoding="utf8"))
self.vego = 0
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.v_model = 0.0
self.a_model = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.params = Params()
self.kegman = kegman_conf()
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.mpcs['custom'] = LimitsLongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-CP.radarTimeStep/2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.vision_turn_controller = VisionTurnController(CP)
self.speed_limit_controller = SpeedLimitController()
self.events = Events()
self.turn_speed_controller = TurnSpeedController()
self._params = Params()
self.params_check_last_t = 0.
self.params_check_freq = 0.1 # check params at 10Hz
self.accel_mode = int(self._params.get("AccelMode", encoding="utf8")) # 0 = normal, 1 = sport; 2 = eco; 3 = creep
self.coasting_lead_d = -1. # [m] lead distance. -1. if no lead
self.coasting_lead_v = -10. # lead "absolute"" velocity
self.tr = 1.8
self.sessionInitTime = sec_since_boot()
self.debug_logging = False
self.debug_log_time_step = 0.333
self.last_debug_log_t = 0.
self.debug_log_path = "/data/openpilot/long_debug.csv"
if self.debug_logging:
with open(self.debug_log_path,"w") as f:
f.write(",".join([
"t",
"vEgo",
"vEgo (mph)",
"a lim low",
"a lim high",
"out a",
"out long plan"]) + "\n")
def __init__(self, CP):
self.CP = CP
self.mpc1 = LongitudinalMpc(1)
self.mpc2 = LongitudinalMpc(2)
self.v_acc_start = 0.0
self.a_acc_start = 0.0
self.v_acc_next = 0.0
self.a_acc_next = 0.0
self.v_acc = 0.0
self.v_acc_future = 0.0
self.a_acc = 0.0
self.v_cruise = 0.0
self.a_cruise = 0.0
self.longitudinalPlanSource = 'cruise'
self.fcw_checker = FCWChecker()
self.path_x = np.arange(192)
self.fcw = False
self.params = Params()
self.first_loop = True
self.input_queue = Queue()
self.input_thread = Thread(target=input_loop,
args=(self.input_queue, ))
self.input_thread.start()
self.output_queue = Queue()
self.output_thread = Thread(target=output_loop,
args=(self.output_queue, ))
self.output_thread.start()
self.TR_override = None
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-DT_MDL / 2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-DT_MDL / 2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.use_cluster_speed = Params().get_bool('UseClusterSpeed')
self.long_control_enabled = Params().get_bool('LongControlEnabled')
def run_following_distance_simulation(TR_override, v_lead, t_end=200.0):
dt = 0.2
t = 0.
lead_pos = LeadPos(v_lead)
x_ego = 0.0
v_ego = v_lead
a_ego = 0.0
v_cruise_setpoint = v_lead + 10.
pm = FakePubMaster()
mpc = LongitudinalMpc(1, TR_override)
datapoints = [{'t': t, 'x_ego': x_ego, 'x_lead': lead_pos.x}]
first = True
while t < t_end:
# Run cruise control
accel_limits = [
float(x) for x in calc_cruise_accel_limits(v_ego, False)
]
jerk_limits = [min(-0.1, accel_limits[0]), max(0.1, accel_limits[1])]
v_cruise, a_cruise = speed_smoother(v_ego, a_ego, v_cruise_setpoint,
accel_limits[1], accel_limits[0],
jerk_limits[1], jerk_limits[0], dt)
# Setup CarState
CS = messaging.new_message('carState')
CS.carState.vEgo = v_ego
CS.carState.aEgo = a_ego
# Setup lead packet
lead = log.RadarState.LeadData.new_message()
lead.status = True
lead.dRel = lead_pos.x - x_ego
lead.vLead = lead_pos.v
lead.aLeadK = 0.0
# Run MPC
mpc.set_cur_state(v_ego, a_ego)
if first: # Make sure MPC is converged on first timestep
for _ in range(20):
mpc.update(CS.carState, lead)
mpc.publish(pm)
mpc.update(CS.carState, lead)
mpc.publish(pm)
# Choose slowest of two solutions
if v_cruise < mpc.v_mpc:
v_ego, a_ego = v_cruise, a_cruise
else:
v_ego, a_ego = mpc.v_mpc, mpc.a_mpc
# Update state
lead_pos.update(t, dt)
x_ego += v_ego * dt
t += dt
first = False
datapoints.append({'t': t, 'x_ego': x_ego, 'x_lead': lead_pos.x})
filename = f'test_out/{v_lead}_{TR_override}.json'
with open(filename, 'w') as datafile:
json.dump(datapoints, datafile)
return lead_pos.x - x_ego
