def test_honda_ui_pcm_speed(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') car_name = HONDA.CIVIC params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ # 780 - 0x30c ('PCM_SPEED', 'ACC_HUD', 99), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome for pcm_speed in np.linspace(0, 100, 20): cc = car.CarControl.CruiseControl.new_message() cc.speedOverride = float(pcm_speed * CV.KPH_TO_MS) control = car.CarControl.new_message() control.enabled = True control.cruiseControl = cc CI.update(control) for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) self.assertAlmostEqual(parser.vl['ACC_HUD']['PCM_SPEED'], round(pcm_speed, 2), msg="Car: %s, speed: %.2f" % (car_name, pcm_speed))
def test_honda_ui_hud_lead(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') for car_name in [HONDA.CIVIC]: params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ # 780 - 0x30c # 3: acc off, 2: solid car (hud_show_car), 1: dashed car (enabled, not hud show car), 0: no car (not enabled) ('HUD_LEAD', 'ACC_HUD', 99), ('SET_ME_X03', 'ACC_HUD', 99), ('SET_ME_X03_2', 'ACC_HUD', 99), ('SET_ME_X01', 'ACC_HUD', 99), ('ENABLE_MINI_CAR', 'ACC_HUD', 99), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome for enabled in [True, False]: for leadVisible in [True, False]: control = car.CarControl.new_message() hud = car.CarControl.HUDControl.new_message() hud.leadVisible = leadVisible control.enabled = enabled control.hudControl = hud CI.update(control) for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) if not enabled: hud_lead = 0 else: hud_lead = 2 if leadVisible else 1 self.assertEqual(int(parser.vl['ACC_HUD']['HUD_LEAD']), hud_lead, msg="Car: %s, lead: %s, enabled %s" % (car_name, leadVisible, enabled)) self.assertTrue(parser.vl['ACC_HUD']['ENABLE_MINI_CAR']) self.assertEqual(0x3, parser.vl['ACC_HUD']['SET_ME_X03']) self.assertEqual(0x3, parser.vl['ACC_HUD']['SET_ME_X03_2']) self.assertEqual(0x1, parser.vl['ACC_HUD']['SET_ME_X01'])
def test_honda_gas(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') car_name = HONDA.ACURA_ILX params = CarInterface.get_params(car_name, {0: {0x201: 6}, 1: {}, 2: {}}) # Add interceptor to fingerprint CI = CarInterface(params, CarController) # Get parser parser_signals = [ ('GAS_COMMAND', 'GAS_COMMAND', -1), ('GAS_COMMAND2', 'GAS_COMMAND', -1), ('ENABLE', 'GAS_COMMAND', -1), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome for gas in np.linspace(0., 0.95, 25): control = car.CarControl.new_message() actuators = car.CarControl.Actuators.new_message() actuators.gas = float(gas) control.enabled = True control.actuators = actuators CI.update(control) CI.CS.steer_not_allowed = False for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) gas_command = parser.vl['GAS_COMMAND']['GAS_COMMAND'] / 255.0 gas_command2 = parser.vl['GAS_COMMAND']['GAS_COMMAND2'] / 255.0 enabled = gas > 0.001 self.assertEqual(enabled, parser.vl['GAS_COMMAND']['ENABLE'], msg="Car: %s, gas %.2f" % (car_name, gas)) if enabled: self.assertAlmostEqual(gas, gas_command, places=2, msg="Car: %s, gas %.2f" % (car_name, gas)) self.assertAlmostEqual(gas, gas_command2, places=2, msg="Car: %s, gas %.2f" % (car_name, gas)) sendcan.close()
def test_honda_steering(self): self.longMessage = True limits = { HONDA.CIVIC: 0x1000, HONDA.ODYSSEY: 0x1000, HONDA.PILOT: 0x1000, HONDA.CRV: 0x3e8, HONDA.ACURA_ILX: 0xF00, HONDA.ACURA_RDX: 0x3e8, } sendcan = messaging.pub_sock('sendcan') for car_name in limits.keys(): params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ ('STEER_TORQUE', 'STEERING_CONTROL', 0), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome for steer in np.linspace(-1., 1., 25): control = car.CarControl.new_message() actuators = car.CarControl.Actuators.new_message() actuators.steer = float(steer) control.enabled = True control.actuators = actuators CI.update(control) CI.CS.steer_not_allowed = False for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) torque = parser.vl['STEERING_CONTROL']['STEER_TORQUE'] self.assertAlmostEqual(int(limits[car_name] * -actuators.steer), torque, msg="Car: %s, steer %.2f" % (car_name, steer)) sendcan.close()
def test_honda_ui_cruise_speed(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') car_name = HONDA.CIVIC params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ # 780 - 0x30c ('CRUISE_SPEED', 'ACC_HUD', 0), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome for cruise_speed in np.linspace(0, 50, 20): for visible in [False, True]: control = car.CarControl.new_message() hud = car.CarControl.HUDControl.new_message() hud.setSpeed = float(cruise_speed) hud.speedVisible = visible control.enabled = True control.hudControl = hud CI.update(control) for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) expected_cruise_speed = round(cruise_speed * CV.MS_TO_KPH) if not visible: expected_cruise_speed = 255 self.assertAlmostEqual(parser.vl['ACC_HUD']['CRUISE_SPEED'], expected_cruise_speed, msg="Car: %s, speed: %.2f" % (car_name, cruise_speed))
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()
def test_honda_brake(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') car_name = HONDA.CIVIC params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ ('COMPUTER_BRAKE', 'BRAKE_COMMAND', 0), ('BRAKE_PUMP_REQUEST', 'BRAKE_COMMAND', 0), # pump_on ('CRUISE_OVERRIDE', 'BRAKE_COMMAND', 0), # pcm_override ('CRUISE_FAULT_CMD', 'BRAKE_COMMAND', 0), # pcm_fault_cmd ('CRUISE_CANCEL_CMD', 'BRAKE_COMMAND', 0), # pcm_cancel_cmd ('COMPUTER_BRAKE_REQUEST', 'BRAKE_COMMAND', 0), # brake_rq ('SET_ME_0X80', 'BRAKE_COMMAND', 0), ('BRAKE_LIGHTS', 'BRAKE_COMMAND', 0), # brakelights ('FCW', 'BRAKE_COMMAND', 0), ] parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome VA = car.CarControl.HUDControl.VisualAlert for override in [True, False]: for cancel in [True, False]: for fcw in [True, False]: steps = 25 if not override and not cancel else 2 for brake in np.linspace(0., 0.95, steps): control = car.CarControl.new_message() hud = car.CarControl.HUDControl.new_message() if fcw: hud.visualAlert = VA.fcw cruise = car.CarControl.CruiseControl.new_message() cruise.cancel = cancel cruise.override = override actuators = car.CarControl.Actuators.new_message() actuators.brake = float(brake) control.enabled = True control.actuators = actuators control.hudControl = hud control.cruiseControl = cruise CI.update(control) CI.CS.steer_not_allowed = False for _ in range(20): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) brake_command = parser.vl['BRAKE_COMMAND']['COMPUTER_BRAKE'] min_expected_brake = int(1024 / 4 * (actuators.brake - 0.02)) max_expected_brake = int(1024 / 4 * (actuators.brake + 0.02)) braking = actuators.brake > 0 braking_ok = min_expected_brake <= brake_command <= max_expected_brake if steps == 2: braking_ok = True self.assertTrue(braking_ok, msg="Car: %s, brake %.2f" % (car_name, brake)) self.assertEqual(0x80, parser.vl['BRAKE_COMMAND']['SET_ME_0X80']) self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['BRAKE_PUMP_REQUEST']) self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['COMPUTER_BRAKE_REQUEST']) self.assertEqual(braking, parser.vl['BRAKE_COMMAND']['BRAKE_LIGHTS']) self.assertFalse(parser.vl['BRAKE_COMMAND']['CRUISE_FAULT_CMD']) self.assertEqual(override, parser.vl['BRAKE_COMMAND']['CRUISE_OVERRIDE']) self.assertEqual(cancel, parser.vl['BRAKE_COMMAND']['CRUISE_CANCEL_CMD']) self.assertEqual(fcw, bool(parser.vl['BRAKE_COMMAND']['FCW']))
def test_honda_lkas_hud(self): self.longMessage = True sendcan = messaging.pub_sock('sendcan') car_name = HONDA.CIVIC params = CarInterface.get_params(car_name) CI = CarInterface(params, CarController) # Get parser parser_signals = [ ('SET_ME_X41', 'LKAS_HUD', 0), ('SET_ME_X48', 'LKAS_HUD', 0), ('STEERING_REQUIRED', 'LKAS_HUD', 0), ('SOLID_LANES', 'LKAS_HUD', 0), ('LEAD_SPEED', 'RADAR_HUD', 0), ('LEAD_STATE', 'RADAR_HUD', 0), ('LEAD_DISTANCE', 'RADAR_HUD', 0), ('ACC_ALERTS', 'RADAR_HUD', 0), ] VA = car.CarControl.HUDControl.VisualAlert parser = CANParser(CI.cp.dbc_name, parser_signals, [], 0, sendcan=True, tcp_addr="127.0.0.1") time.sleep(0.2) # Slow joiner syndrome alerts = { VA.none: 0, VA.brakePressed: 10, VA.wrongGear: 6, VA.seatbeltUnbuckled: 5, VA.speedTooHigh: 8, } for steer_required in [True, False]: for lanes in [True, False]: for alert in alerts.keys(): control = car.CarControl.new_message() hud = car.CarControl.HUDControl.new_message() control.enabled = True if steer_required: hud.visualAlert = VA.steerRequired else: hud.visualAlert = alert hud.lanesVisible = lanes control.hudControl = hud CI.update(control) for _ in range(25): can_sends = CI.apply(control) sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan')) for _ in range(5): parser.update(int(sec_since_boot() * 1e9), False) time.sleep(0.01) self.assertEqual(0x41, parser.vl['LKAS_HUD']['SET_ME_X41']) self.assertEqual(0x48, parser.vl['LKAS_HUD']['SET_ME_X48']) self.assertEqual(steer_required, parser.vl['LKAS_HUD']['STEERING_REQUIRED']) self.assertEqual(lanes, parser.vl['LKAS_HUD']['SOLID_LANES']) self.assertEqual(0x1fe, parser.vl['RADAR_HUD']['LEAD_SPEED']) self.assertEqual(0x7, parser.vl['RADAR_HUD']['LEAD_STATE']) self.assertEqual(0x1e, parser.vl['RADAR_HUD']['LEAD_DISTANCE']) self.assertEqual(alerts[alert] if not steer_required else 0, parser.vl['RADAR_HUD']['ACC_ALERTS'])