def __init__(self):
self.long_control_state = 0 # initialized to off
self.seq_step_debug = 0
self.long_curv_timer = 0
self.path_x = np.arange(192)
self.traceSC = trace1.Loger("SPD_CTRL")
self.wheelbase = 2.845
self.steerRatio = 12.5 # 12.5
self.v_model = 0
self.a_model = 0
self.v_cruise = 0
self.a_cruise = 0
self.l_poly = []
self.r_poly = []
self.movAvg = moveavg1.MoveAvg()
self.Timer1 = tm.CTime1000("SPD")
self.time_no_lean = 0
self.SC = trace1.Loger("spd")
def __init__(self, CP):
self.kegman = kegman_conf(CP)
self.deadzone = float(self.kegman.conf['deadzone'])
self.pid = PIController(
(CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf,
pos_limit=1.0,
sat_limit=CP.steerLimitTimer)
self.angle_steers_des = 0.
self.mpc_frame = 500
self.BP0 = 4
self.steer_Kf1 = [0.00003, 0.00003]
self.steer_Ki1 = [0.02, 0.04]
self.steer_Kp1 = [0.18, 0.20]
self.steer_Kf2 = [0.00005, 0.00005]
self.steer_Ki2 = [0.04, 0.05]
self.steer_Kp2 = [0.20, 0.25]
self.pid_change_flag = 0
self.pre_pid_change_flag = 0
self.pid_BP0_time = 0
self.movAvg = moveavg1.MoveAvg()
self.v_curvature = 256
self.model_sum = 0
self.path_x = np.arange(192)
def __init__(self, CP=None):
self.long_control_state = 0 # initialized to off
self.seq_step_debug = ""
self.long_curv_timer = 0
self.path_x = np.arange(192)
self.traceSC = trace1.Loger("SPD_CTRL")
self.v_model = 0
self.a_model = 0
self.v_cruise = 0
self.a_cruise = 0
self.l_poly = []
self.r_poly = []
self.movAvg = moveavg1.MoveAvg()
self.Timer1 = tm.CTime1000("SPD")
self.time_no_lean = 0
self.wait_timer2 = 0
self.cruise_set_speed_kph = 0
self.curise_set_first = 0
self.curise_sw_check = 0
self.prev_clu_CruiseSwState = 0
self.prev_VSetDis = 0
self.sc_clu_speed = 0
self.btn_type = Buttons.NONE
self.active_time = 0
def __init__(self, CP=None):
self.long_control_state = 0 # initialized to off
self.seq_step_debug = ""
self.long_curv_timer = 0
self.path_x = np.arange(192)
self.traceSC = trace1.Loger("SPD_CTRL")
self.wheelbase = 2.8
self.steerRatio = 13.5 # 13.5
self.v_model = 0
self.a_model = 0
self.v_cruise = 0
self.a_cruise = 0
self.l_poly = []
self.r_poly = []
self.movAvg = moveavg1.MoveAvg()
self.Timer1 = tm.CTime1000("SPD")
self.time_no_lean = 0
self.wait_timer2 = 0
self.cruise_set_speed_kph = 0
self.curise_set_first = 0
self.curise_sw_check = 0
self.prev_clu_CruiseSwState = 0
self.prev_VSetDis = 0
self.sc_clu_speed = 0
self.btn_type = Buttons.NONE
self.active_time = 0
self.old_model_speed = 0
self.old_model_init = 0
self.curve_speed = 0
self.curvature_gain = 1
self.params = Params()
self.cruise_set_mode = int(
self.params.get("CruiseStatemodeSelInit", encoding='utf8'))
self.map_spd_limit_offset = int(
self.params.get("OpkrSpeedLimitOffset", encoding='utf8'))
self.map_spd_enable = False
self.map_spd_camera = 0
def __init__(self, CP):
self.kegman = kegman_conf(CP)
self.deadzone = float(self.kegman.conf['deadzone'])
self.pid = PIController(
(CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf,
pos_limit=1.0,
sat_limit=CP.steerLimitTimer)
self.angle_steers_des = 0.
self.mpc_frame = 0
self.movAvg = moveavg1.MoveAvg()
def __init__(self, CP=None):
self.long_control_state = 0 # initialized to off
self.seq_step_debug = ""
self.long_curv_timer = 0
self.path_x = np.arange(192)
self.traceSC = trace1.Loger("SPD_CTRL")
self.wheelbase = 2.845
self.steerRatio = 12.5 # 12.5
self.v_model = 0
self.a_model = 0
self.v_cruise = 0
self.a_cruise = 0
self.l_poly = []
self.r_poly = []
self.movAvg = moveavg1.MoveAvg()
self.Timer1 = tm.CTime1000("SPD")
self.time_no_lean = 0
self.wait_timer2 = 0
self.cruise_set_speed_kph = 0
self.curise_set_first = 0
self.curise_sw_check = 0
self.prev_clu_CruiseSwState = 0
self.prev_VSetDis = 0
self.sc_clu_speed = 0
self.btn_type = Buttons.NONE
self.active_time = 0
self.params = Params()
self.param_OpkrAccelProfile = int(self.params.get('OpkrAccelProfile'))
self.cruise_set_mode = int(self.params.get('CruiseStatemodeSelInit'))
def __init__(self, CP):
self.LP = LanePlanner()
self.last_cloudlog_t = 0
self.steer_rate_cost = CP.steerRateCost
self.steerRatio = CP.steerRatio
self.setup_mpc()
self.solution_invalid_cnt = 0
self.steerRatio_last = 0
self.params = Params()
# Lane change
self.lane_change_enabled = self.params.get('LaneChangeEnabled') == b'1'
self.lane_change_auto_delay = self.params.get_OpkrAutoLanechangedelay(
) #int( self.params.get('OpkrAutoLanechangedelay') )
self.lane_change_state = LaneChangeState.off
self.lane_change_direction = LaneChangeDirection.none
self.lane_change_run_timer = 0.0
self.lane_change_wait_timer = 0.0
self.lane_change_ll_prob = 1.0
self.prev_one_blinker = False
# atom
self.trPATH = trace1.Loger("path")
self.trLearner = trace1.Loger("Learner")
self.trpathPlan = trace1.Loger("pathPlan")
self.atom_timer_cnt = 0
self.atom_steer_ratio = None
self.atom_sr_boost_bp = [0., 0.]
self.atom_sr_boost_range = [0., 0.]
self.carParams_valid = False
self.m_avg = ma.MoveAvg()
from selfdrive.manager import manager_init, manager_prepare
from selfdrive.manager import start_managed_process, kill_managed_process, get_running
from selfdrive.manager import start_daemon_process
from selfdrive.car.hyundai.spdcontroller import SpdController
from functools import wraps
from selfdrive.config import Conversions as CV
import common.MoveAvg as moveavg1
import cereal.messaging as messaging
import json
import requests
import signal
import subprocess
import time
movAvg = moveavg1.MoveAvg()
MAX_SPEED = 255
sc = SpdController()
path_x = np.arange(192)
def main():
sm = None
if sm is None:
sm = messaging.SubMaster(['plan', 'pathPlan', 'model'])
v_ego = 50 * CV.KPH_TO_MS
print('curvature test ')
