def __init__(self, mpc_id):
self.mpc_id = mpc_id
self.op_params = opParams()
self.df_profiles = dfProfiles()
self.df_manager = dfManager(self.op_params)
if not travis and mpc_id == 1:
self.pm = messaging.PubMaster(['dynamicFollowData'])
else:
self.pm = None
# Model variables
mpc_rate = 1 / 20.
self.model_scales = {
'v_ego': [-0.06112159043550491, 37.96522521972656],
'a_lead': [-3.109330892562866, 3.3612186908721924],
'v_lead': [0.0, 35.27671432495117],
'x_lead': [2.4600000381469727, 141.44000244140625]
}
self.predict_rate = 1 / 4.
self.skip_every = round(0.25 / mpc_rate)
self.model_input_len = round(45 / mpc_rate)
# Dynamic follow variables
self.default_TR = 1.8
self.TR = 1.8
self.v_ego_retention = 2.5
self.v_rel_retention = 1.75
self.sng_TR = 1.8 # reacceleration stop and go TR
self.sng_speed = 18.0 * CV.MPH_TO_MS
self._setup_collector()
self._setup_changing_variables()
def __init__(self):
self.op_params = opParams()
self.df_profiles = dfProfiles()
self.sm = messaging.SubMaster(
['dynamicFollowButton', 'dynamicFollowData'])
self.button_updated = False
self.cur_user_profile = self.op_params.get(
'dynamic_follow').strip().lower()
if not isinstance(
self.cur_user_profile,
str) or self.cur_user_profile not in self.df_profiles.to_idx:
self.cur_user_profile = self.df_profiles.default # relaxed
self.op_params.put(
'dynamic_follow',
self.df_profiles.to_profile[self.cur_user_profile])
else:
self.cur_user_profile = self.df_profiles.to_idx[
self.cur_user_profile]
self.last_user_profile = self.cur_user_profile
self.cur_model_profile = 0
self.alert_duration = 2.0
self.profile_pred = None
self.change_time = sec_since_boot()
self.first_run = True
self.last_is_auto = False
def __init__(self, mpc_id):
self.mpc_id = mpc_id
self.df_profiles = dfProfiles()
# Model variables
mpc_rate = 1 / 20.
self.model_scales = {
'v_ego': [-0.06112159043550491, 37.96522521972656],
'a_lead': [-3.109330892562866, 3.3612186908721924],
'v_lead': [0.0, 35.27671432495117],
'x_lead': [2.4600000381469727, 141.44000244140625]
}
self.predict_rate = 1 / 4.
self.skip_every = round(0.25 / mpc_rate)
self.model_input_len = round(45 / mpc_rate)
# Dynamic follow variables
self.default_TR = 1.8
self.TR = 1.8
# self.v_lead_retention = 2.0 # keep only last x seconds
self.v_ego_retention = 2.5
self.v_rel_retention = 1.5
self.sng_TR = 1.8 # reacceleration stop and go TR
self.sng_speed = 18.0 * CV.MPH_TO_MS
self._setup_changing_variables()
# dp params
self.last_ts = 0.
self.dp_dynamic_follow = PROFILE_OFF
self.dp_last_modified = None
self.params = Params()
def __init__(self, op_params, is_df=False):
self.op_params = op_params
self.is_df = is_df
self.df_profiles = dfProfiles()
self.sm = messaging_arne.SubMaster(
['dynamicFollowButton', 'dynamicFollowData'])
self.cur_user_profile = self.op_params.get(
'dynamic_follow', default='auto').strip().lower()
if not isinstance(
self.cur_user_profile,
str) or self.cur_user_profile not in self.df_profiles.to_idx:
self.cur_user_profile = self.df_profiles.normal # relaxed
else:
self.cur_user_profile = self.df_profiles.to_idx[
self.cur_user_profile]
self.cur_model_profile = 0
self.alert_duration = 2.0
self.offset = self.cur_user_profile
self.profile_pred = None
self.change_time = sec_since_boot()
self.first_run = True
self.last_is_auto = False
def __init__(self, mpc_id):
self.mpc_id = mpc_id
self.op_params = opParams()
self.df_profiles = dfProfiles()
self.df_manager = dfManager()
self.dmc_v_rel = DistanceModController(k_i=0.042,
k_d=0.08,
x_clip=[-1, 0, 0.66],
mods=[1.15, 1., 0.95])
self.dmc_a_rel = DistanceModController(
k_i=0.042 * 1.05,
k_d=0.08,
x_clip=[-1, 0, 0.33],
mods=[1.15, 1., 0.98]) # a_lead loop is 5% faster
if not travis and mpc_id == 1:
self.pm = messaging.PubMaster(['dynamicFollowData'])
else:
self.pm = None
# Model variables
mpc_rate = 1 / 20.
self.model_scales = {
'v_ego': [-0.06112159043550491, 37.96522521972656],
'a_lead': [-3.109330892562866, 3.3612186908721924],
'v_lead': [0.0, 35.27671432495117],
'x_lead': [2.4600000381469727, 141.44000244140625]
}
self.predict_rate = 1 / 4.
self.skip_every = round(0.25 / mpc_rate)
self.model_input_len = round(45 / mpc_rate)
# Dynamic follow variables
self.default_TR = 1.8
self.TR = 1.8
self.v_ego_retention = 2.5
self.v_rel_retention = 1.75
#self.sng_TR = 1.8 # reacceleration stop and go TR #Orig
#self.sng_TR = 2.3 # Last value
#self.sng_TR = 1.5 # Try to decrease stop and start TR so would start move faster from stop
self.sng_TR = 1. # Try to decrease stop and start TR so would start move faster from stop
self.sng_TR = 2.5 # Maybe I thought this wrong
self.sng_speed = 18.0 * CV.MPH_TO_MS #Orig
#self.sng_speed = 12.0 * CV.MPH_TO_MS
self._setup_collector()
self._setup_changing_variables()