def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[[1.0, 0.0]],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.kegman = kegman_conf()
self.trMode = int(self.kegman.conf['lastTrMode']
) # default to last distance interval on startup
self.lkMode = True
self.read_distance_lines_prev = 4
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[[1.0, 0.0]],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
# Added to support Openpilot Buttons -- https://github.com/rhinodavid/OpenpilotButtons
# prev_time_gap_button_state [0|1] changes based on ACC Time Gap button presses
# ex: 0...0...0...[button press]...1...1...1...[button press]...0...0...0
self.prev_time_gap_button_state = 0
self.read_distance_lines = 0
self.time_gap_button_pressed = False
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
#self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
#2018.09.02 DV change the value for Kia soul gear info, link in interface.py
#self.shifter_PARK = self.can_define.dv["TM_GEAR"]["TM_PARK"]
# self.shifter_REVERSE = self.can_define.dv["TM_GEAR"]["TM_REVERSE"]
#self.shifter_NEUTRAL = self.can_define.dv["TM_GEAR"]["TM_NEUTRAL"]
#self.shifter_DRIVE = self.can_define.dv["TM_GEAR"]["TM_DRIVE"]
#if self.shifter_PARK == 1:
# self.gear_shifter = "park"
#elif self.shifter_NEUTRAL == 1:
# self.gear_shifter = "neutral"
#elif self.shifter_DRIVE == 1:
# self.gear_shifter = "drive"
#elif self.shifter_REVERSE == 1:
# self.gear_shifter = "reverse"
#else:
# self.gear_shifter = "unknown"
# end of gear parse definition
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
#self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
# A=[[1.0, dt], [0.0, 1.0]],
# C=[[1.0, 0.0]],
# K=[[0.12287673], [0.29666309]])
#
#hyundai change 2018.09.04
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
def __init__(self, CP):
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
def __init__(self, CP):
#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16., 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5., 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 1.5]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40., 10., 3.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [
.358, 0.084, 0.042
] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7, 0.30, 0.20]
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
#BB UIEvents
self.UE = UIEvents(self)
#BB variable for custom buttons
self.cstm_btns = UIButtons(self, "Honda", "honda")
#BB pid holder for ALCA
self.pid = None
#BB custom message counter
self.custom_alert_counter = -1 #set to 100 for 1 second display; carcontroller will take down to zero
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[[1.0, 0.0]],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
def __init__(self, CP):
self.Angle = [0, 5, 10, 15, 20, 25, 30, 35, 60, 100, 180, 270, 500]
self.Angle_Speed = [
255, 160, 100, 80, 70, 60, 55, 50, 40, 33, 27, 17, 12
]
#labels for ALCA modes
self.alcaLabels = ["MadMax", "Normal", "Wifey"]
self.alcaMode = 0
#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 15., 32., 44.] #[10., 44.]
self.CL_MAX_ANGLE_DELTA = [2.0, 1.75, 0.96, 0.4]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16., 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5., 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.3, 1.3]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40., 10., 3.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [
.358, 0.084, 0.042
] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = [1.3, 1.2, 1.2]
self.CL_CORRECTION_FACTOR_BP = [10., 32., 44.]
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7, 0.30, 0.20]
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
context = zmq.Context()
#gps_ext_sock = messaging.sub_sock(context, service_list['gpsLocationExternal'].port, poller)
self.gps_location = messaging.sub_sock(
context, service_list['gpsLocationExternal'].port)
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
self.distance = 999
self.inaccuracy = 1.01
self.speedlimit = 25
self.approachradius = 100
self.includeradius = 22
self.blind_spot_on = bool(0)
self.distance_toggle_prev = 2
self.read_distance_lines_prev = 3
self.lane_departure_toggle_on_prev = True
self.acc_slow_on_prev = False
#BB UIEvents
self.UE = UIEvents(self)
#BB variable for custom buttons
self.cstm_btns = UIButtons(self, "Toyota", "toyota")
#BB pid holder for ALCA
self.pid = None
#BB custom message counter
self.custom_alert_counter = 100 #set to 100 for 1 second display; carcontroller will take down to zero
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
def __init__(self, CP):
#labels for buttons
self.btns_init = [["alca","ALC",["MadMax","Normal","Wifey"]], \
["sound","SND",[""]], \
["","",[""]], \
["","",[""]], \
["", "",[""]], \
["", "", [""]]]
#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [1.8, .3]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16., 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5., 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 1.5]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40., 10., 3.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [
.358, 0.11, 0.072
] # [.358, 0.084, 0.042]#delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7, 0.50, 0.40] #tesla parameters
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 0.1
#END OF ALCA PARAMS
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEAR_PACKET"]['GEAR']
self.left_blinker_on = 0
self.right_blinker_on = 0
#BB UIEvents
self.UE = UIEvents(self)
#BB variable for custom buttons
self.cstm_btns = UIButtons(self, "Toyota", "toyota")
#BB pid holder for ALCA
self.pid = None
#BB custom message counter
self.custom_alert_counter = -1 #set to 100 for 1 second display; carcontroller will take down to zero
# initialize can parser
self.car_fingerprint = CP.carFingerprint
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
#init variable for safety shutoff
self.enabled_time = 0
self.desired_angle = 0.
self.current_angle = 0.
def __init__(self, CP):
self.lkMode = True
self.gasMode = int(kegman.conf['lastGasMode'])
self.gasLabels = ["dynamic", "sport", "eco"]
self.Angle = [0, 5, 10, 15, 20, 25, 30, 35, 60, 100, 180, 270, 500]
self.Angle_Speed = [
255, 160, 100, 80, 70, 60, 55, 50, 40, 30, 20, 10, 5
]
self.blind_spot_on = bool(0)
#labels for ALCA modes
self.alcaLabels = ["MadMax", "Normal", "Wifey", "off"]
steerRatio = CP.steerRatio
self.trLabels = ["0.9", "dyn", "2.7"]
self.alcaMode = int(kegman.conf['lastALCAMode']
) # default to last ALCA Mode on startup
if self.alcaMode > 3:
self.alcaMode = 3
kegman.save({'lastALCAMode': int(self.alcaMode)
}) # write last distance bar setting to file
self.trMode = int(kegman.conf['lastTrMode']
) # default to last distance interval on startup
if self.trMode > 2:
self.trMode = 2
kegman.save({'lastTrMode': int(self.trMode)
}) # write last distance bar setting to file
#if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 32., 55.]
self.CL_MAX_ANGLE_DELTA = [
2.0 * 15.4 / steerRatio, 1. * 15.4 / steerRatio,
0.5 * 15.4 / steerRatio
]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16., 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5., 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 2.5]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40., 10., 4.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [
.358, 0.084, 0.040
] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = [1., 1.1, 1.2]
self.CL_CORRECTION_FACTOR_BP = [10., 32., 44.]
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7, 0.30, 0.30]
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
self.read_distance_lines_prev = 3
self.CP = CP
self.can_define = CANDefine(DBC[CP.carFingerprint]['pt'])
self.shifter_values = self.can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
self.user_gas, self.user_gas_pressed = 0., 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.lead_distance = 255
self.hud_lead = 0
self.cruise_buttons = 0
self.cruise_setting = 0
self.v_cruise_pcm_prev = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.stopped = 0
#BB UIEvents
self.UE = UIEvents(self)
#BB variable for custom buttons
self.cstm_btns = UIButtons(self, "Honda", "honda")
#BB pid holder for ALCA
self.pid = None
#BB custom message counter
self.custom_alert_counter = -1 #set to 100 for 1 second display; carcontroller will take down to zero
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[[1.0, 0.0]],
K=[[0.12287673], [0.29666309]])
self.v_ego = 0.0
