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)
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)
# 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()
# 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)
# 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)
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 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 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 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())
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'])