def __init__(self, dbc_name, car_fingerprint, enable_camera):
self.apply_steer_last = 0
self.turning_signal_timer = 0
self.car_fingerprint = car_fingerprint
self.lkas11_cnt = 0
self.mdps12_cnt = 0
self.cnt = 0
self.last_resume_cnt = 0
self.map_speed = 0
self.enable_camera = enable_camera
# True when camera present, and we need to replace all the camera messages
# otherwise we forward the camera msgs and we just replace the lkas cmd signals
self.camera_disconnected = False
self.packer = CANPacker(dbc_name)
context = zmq.Context()
self.params = Params()
self.map_data_sock = messaging.sub_sock(
context, service_list['liveMapData'].port, conflate=True)
self.speed_conv = 3.6
self.speed_adjusted = False
self.checksum = "NONE"
self.checksum_learn_cnt = 0
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.lkas = False
self.spas_present = True # TODO Make Automatic
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu,
enable_apg):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.last_fault_frame = -200
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(ECU.CAM)
if enable_dsu: self.fake_ecus.add(ECU.DSU)
if enable_apg: self.fake_ecus.add(ECU.APGS)
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, enable_camera=True): self.params = Params() self.braking = False self.brake_steady = 0. self.brake_last = 0. self.enable_camera = enable_camera self.packer = CANPacker(dbc_name) self.epas_disabled = True self.last_angle = 0. self.last_accel = 0. self.ALCA = ALCAController(self,True,True) # Enabled and SteerByAngle both True self.ACC = ACCController() self.PCC = PCCController(self) self.HSO = HSOController(self) self.GYRO = GYROController() self.sent_DAS_bootID = False context = zmq.Context() self.poller = zmq.Poller() self.speedlimit = messaging.sub_sock(context, service_list['liveMapData'].port, conflate=True, poller=self.poller) self.speedlimit_ms = 0 self.speedlimit_valid = False self.speedlimit_units = 0 self.opState = 0 # 0-disabled, 1-enabled, 2-disabling, 3-unavailable, 5-warning self.accPitch = 0. self.accRoll = 0. self.accYaw = 0. self.magPitch = 0. self.magRoll = 0. self.magYaw = 0. self.gyroPitch = 0. self.gyroRoll = 0. self.gyroYaw = 0. self.set_speed_limit_active = False self.speed_limit_offset = 0.
def __init__(self, dbc_name, enable_camera=True): self.braking = False self.brake_steady = 0. self.brake_last = 0. self.enable_camera = enable_camera self.packer = CANPacker(dbc_name) self.new_radar_config = False self.ALCA = ALCAController(self,True,False) # Enabled True and SteerByAngle only False
def __init__(self, dbc_name, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.epas_disabled = True
self.last_angle = 0.
self.last_accel = 0.
self.ALCA = ALCAController(self, True,
True) # Enabled and SteerByAngle both True
self.ACC = ACCController()
self.PCC = PCCController(self)
self.HSO = HSOController(self)
def __init__(self, car_fingerprint): self.start_time = sec_since_boot() self.lkas_active = False self.steer_idx = 0 self.apply_steer_last = 0 self.car_fingerprint = car_fingerprint self.es_distance_cnt = -1 self.es_lkas_cnt = -1 self.counter = 0 self.ALCA = ALCAController(self,True,False) # Enabled True and SteerByAngle only False # Setup detection helper. Routes commands to # an appropriate CAN bus number. self.params = CarControllerParams(car_fingerprint) print(DBC) self.packer = CANPacker(DBC[car_fingerprint]['pt'])
def __init__(self, canbus, car_fingerprint, allow_controls):
self.pedal_steady = 0.
self.start_time = sec_since_boot()
self.chime = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.allow_controls = allow_controls
self.lka_icon_status_last = (False, False)
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.canbus = canbus
self.params = CarControllerParams(car_fingerprint)
self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def __init__(self, dbc_name, car_fingerprint, enable_camera):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.apply_steer_last = 0
self.ccframe = 0
self.prev_frame = -1
self.hud_count = 0
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.send_chime = False
self.gone_fast_yet = False
self.ALCA = ALCAController(
self, True, False) # Enabled True and SteerByAngle only False
self.fake_ecus = set()
if enable_camera:
self.fake_ecus.add(ECU.CAM)
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, enable_camera=True):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.enable_camera = enable_camera
self.packer = CANPacker(dbc_name)
self.epas_disabled = True
self.last_angle = 0.
self.last_accel = 0.
self.ALCA = ALCAController(self, True,
True) # Enabled and SteerByAngle both True
self.ACC = ACCController()
self.PCC = PCCController(self)
self.HSO = HSOController(self)
self.sent_DAS_bootID = False
context = zmq.Context()
self.poller = zmq.Poller()
self.speedlimit = messaging.sub_sock(context,
service_list['speedLimit'].port,
conflate=True,
poller=self.poller)
self.speedlimit_mph = 0
def __init__(self, dbc_name, CP, VM):
self.fleet_speed_state = 0
self.cc_counter = 0
self.alcaStateData = None
self.icLeadsData = None
self.params = Params()
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.packer = CANPacker(dbc_name)
self.epas_disabled = True
self.last_angle = 0.
self.last_accel = 0.
self.blinker = Blinker()
self.ALCA = ALCAController(self, True,
True) # Enabled and SteerByAngle both True
self.ACC = ACCController(self)
self.PCC = PCCController(self)
self.HSO = HSOController(self)
self.GYRO = GYROController()
self.AHB = AHBController(self)
self.sent_DAS_bootID = False
self.speedlimit = None
self.trafficevents = messaging.sub_sock('trafficEvents', conflate=True)
self.pathPlan = messaging.sub_sock('pathPlan', conflate=True)
self.radarState = messaging.sub_sock('radarState', conflate=True)
self.icLeads = messaging.sub_sock('uiIcLeads', conflate=True)
self.icCarLR = messaging.sub_sock('uiIcCarLR', conflate=True)
self.alcaState = messaging.sub_sock('alcaState', conflate=True)
self.gpsLocationExternal = None
self.opState = 0 # 0-disabled, 1-enabled, 2-disabling, 3-unavailable, 5-warning
self.accPitch = 0.
self.accRoll = 0.
self.accYaw = 0.
self.magPitch = 0.
self.magRoll = 0.
self.magYaw = 0.
self.gyroPitch = 0.
self.gyroRoll = 0.
self.gyroYaw = 0.
self.set_speed_limit_active = False
self.speed_limit_offset = 0.
self.speed_limit_ms = 0.
# for warnings
self.warningCounter = 0
self.DAS_206_apUnavailable = 0
self.DAS_222_accCameraBlind = 0 #DAS_206 lkas not ebabled
self.DAS_219_lcTempUnavailableSpeed = 0
self.DAS_220_lcTempUnavailableRoad = 0
self.DAS_221_lcAborting = 0
self.DAS_211_accNoSeatBelt = 0
self.DAS_207_lkasUnavailable = 0 #use for manual steer?
self.DAS_208_rackDetected = 0 #use for low battery?
self.DAS_202_noisyEnvironment = 0 #use for planner error?
self.DAS_025_steeringOverride = 0 #another one to use for manual steer?
self.warningNeeded = 0
# items for IC integration for Lane and Lead Car
self.average_over_x_pathplan_values = 1
self.curv0Matrix = MovingAverage(self.average_over_x_pathplan_values)
self.curv1Matrix = MovingAverage(self.average_over_x_pathplan_values)
self.curv2Matrix = MovingAverage(self.average_over_x_pathplan_values)
self.curv3Matrix = MovingAverage(self.average_over_x_pathplan_values)
self.leadDxMatrix = MovingAverage(self.average_over_x_pathplan_values)
self.leadDyMatrix = MovingAverage(self.average_over_x_pathplan_values)
self.leadDx = 0.
self.leadDy = 0.
self.leadClass = 0
self.leadVx = 0.
self.leadId = 0
self.lead2Dx = 0.
self.lead2Dy = 0.
self.lead2Class = 0
self.lead2Vx = 0.
self.lead2Id = 0
self.lLine = 0
self.rLine = 0
self.curv0 = 0.
self.curv1 = 0.
self.curv2 = 0.
self.curv3 = 0.
self.visionCurvC0 = 0.
self.laneRange = 30 #max is 160m but OP has issues with precision beyond 50
self.laneWidth = 0.
self.stopSign_visible = False
self.stopSign_distance = 1000.
self.stopSign_action = 0
self.stopSign_resume = False
self.stopLight_visible = False
self.stopLight_distance = 1000.
self.stopLight_action = 0
self.stopLight_resume = False
self.stopLight_color = 0. #0-unknown, 1-red, 2-yellow, 3-green
self.stopSignWarning = 0
self.stopLightWarning = 0
self.stopSignWarning_last = 0
self.stopLightWarning_last = 0
self.roadSignType = 0xFF
self.roadSignStopDist = 1000.
self.roadSignColor = 0.
self.roadSignControlActive = 0
self.roadSignType_last = 0xFF
self.roadSignDistanceWarning = 50.
self.alca_enabled = False
self.ldwStatus = 0
self.prev_ldwStatus = 0
self.radarVin_idx = 0
self.LDW_ENABLE_SPEED = 16
self.should_ldw = False
self.ldw_numb_frame_end = 0
self.isMetric = (self.params.get("IsMetric") == "1")
self.ahbLead1 = None