def __init__(self, sm=None, pm=None, can_sock=None):
gc.disable()
set_realtime_priority(3)
self.trace_log = trace1.Loger("controlsd")
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState', \
'carControl', 'carEvents', 'carParams'])
self.sm = sm
if self.sm is None:
socks = [
'thermal', 'health', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'
]
self.sm = messaging.SubMaster(socks,
ignore_alive=['dMonitoringState'])
#self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration', \
# 'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
print(" start_Controls messages...1")
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT',
False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
print(" start_Controls messages...2")
# wait for one health and one CAN packet
hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno]
print("Waiting for CAN messages...")
messaging.get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'],
has_relay)
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled",
encoding='utf8') == "1"
internet_needed = params.get("Offroad_ConnectivityNeeded",
encoding='utf8') is not None
community_feature_toggle = params.get("CommunityFeaturesToggle",
encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle",
encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1" or \
internet_needed or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = not os.path.isfile('/EON') or (os.path.isfile('/proc/asound/card0/state') \
and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("LongitudinalControl",
"1" if self.CP.openpilotLongitudinalControl else "0")
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
print('self.CP.lateralTuning.which()={}'.format(
self.CP.lateralTuning.which()))
if self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.consecutive_can_error_count = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.events_prev = []
self.current_alert_types = []
self.sm['liveCalibration'].calStatus = Calibration.INVALID
self.sm['thermal'].freeSpace = 1.
self.sm['dMonitoringState'].events = []
self.sm['dMonitoringState'].awarenessStatus = 1.
self.sm['dMonitoringState'].faceDetected = False
self.startup_event = get_startup_event(car_recognized,
controller_available, hw_type)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if internet_needed:
self.events.add(EventName.internetConnectivityNeeded, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if self.read_only and not passive:
self.events.add(EventName.carUnrecognized, static=True)
# if hw_type == HwType.whitePanda:
# self.events.add(EventName.whitePandaUnsupported, static=True)
uname = subprocess.check_output(["uname", "-v"],
encoding='utf8').strip()
if uname == "#1 SMP PREEMPT Wed Jun 10 12:40:53 PDT 2020":
self.events.add(EventName.neosUpdateRequired, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
self.hyundai_lkas = self.read_only #read_only
self.init_flag = True
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(3, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster(['thermal', 'health', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman'])
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one health and one CAN packet
hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
internet_needed = (params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None) and (params.get("DisableUpdates") != b"1")
community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1" or \
internet_needed or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
if self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
self.sm['thermal'].freeSpace = 1.
self.sm['dMonitoringState'].events = []
self.sm['dMonitoringState'].awarenessStatus = 1.
self.sm['dMonitoringState'].faceDetected = False
self.startup_event = get_startup_event(car_recognized, controller_available, hw_type)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if internet_needed:
self.events.add(EventName.internetConnectivityNeeded, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
if hw_type == HwType.whitePanda:
self.events.add(EventName.whitePandaUnsupported, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl',
'carEvents', 'carParams'
])
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'
] if SIMULATION else None
self.sm = messaging.SubMaster([
'deviceState', 'pandaState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan',
'liveLocationKalman', 'roadCameraState', 'driverCameraState',
'managerState', 'liveParameters', 'radarState'
],
ignore_alive=ignore)
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT',
False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
# read params
params = Params()
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False
self.sm['liveCalibration'].calStatus = Calibration.CALIBRATED
self.sm['deviceState'].freeSpacePercent = 100
self.sm['driverMonitoringState'].events = []
self.sm['driverMonitoringState'].awarenessStatus = 1.
self.sm['driverMonitoringState'].faceDetected = False
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized,
controller_available)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
elif self.read_only:
self.events.add(EventName.dashcamMode, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def controlsd_thread(sm=None, pm=None, can_sock=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
is_metric = params.get("IsMetric", encoding='utf8') == "1"
is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle",
encoding='utf8') == "1"
community_feature_toggle = params.get("CommunityFeaturesToggle",
encoding='utf8') == "1"
passive = passive or not openpilot_enabled_toggle
# Passive if internet needed
internet_needed = params.get("Offroad_ConnectivityNeeded",
encoding='utf8') is not None
passive = passive or internet_needed
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl', 'carEvents',
'carParams'
])
if sm is None:
sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'dMonitoringState', 'plan', 'pathPlan', \
'model'])
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for health and CAN packets
hw_type = messaging.recv_one(sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno]
print("Waiting for CAN messages...")
messaging.get_one_can(can_sock)
CI, CP = get_car(can_sock, pm.sock['sendcan'], has_relay)
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
community_feature_disallowed = CP.communityFeature and not community_feature_toggle
read_only = not car_recognized or not controller_available or CP.dashcamOnly or community_feature_disallowed
if read_only:
CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message()
AM = AlertManager()
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
elif CP.lateralTuning.which() == 'indi':
LaC = LatControlINDI(CP)
elif CP.lateralTuning.which() == 'lqr':
LaC = LatControlLQR(CP)
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
mismatch_counter = 0
can_error_counter = 0
last_blinker_frame = 0
saturated_count = 0
events_prev = []
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
sm['thermal'].freeSpace = 1.
sm['dMonitoringState'].events = []
sm['dMonitoringState'].awarenessStatus = 1.
sm['dMonitoringState'].faceDetected = False
# detect sound card presence
sounds_available = not os.path.isfile('/EON') or (
os.path.isdir('/proc/asound/card0')
and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_perc, mismatch_counter, can_error_counter = data_sample(
CI, CC, sm, can_sock, state, mismatch_counter, can_error_counter,
params)
prof.checkpoint("Sample")
# Create alerts
if not sm.alive['plan'] and sm.alive[
'pathPlan']: # only plan not being received: radar not communicating
events.append(
create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
elif not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid and os.getenv("NOSENSOR") is None:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['pathPlan'].posenetValid:
events.append(
create_event('posenetInvalid', [ET.NO_ENTRY, ET.WARNING]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sounds_available:
events.append(
create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
if internet_needed:
events.append(
create_event('internetConnectivityNeeded',
[ET.NO_ENTRY, ET.PERMANENT]))
if community_feature_disallowed:
events.append(
create_event('communityFeatureDisallowed', [ET.PERMANENT]))
if read_only and not passive:
events.append(create_event('carUnrecognized', [ET.PERMANENT]))
if log.HealthData.FaultType.relayMalfunction in sm['health'].faults:
events.append(
create_event(
'relayMalfunction',
[ET.NO_ENTRY, ET.PERMANENT, ET.IMMEDIATE_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, v_acc, a_acc, lac_log, last_blinker_frame, saturated_count = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
LaC, LoC, read_only, is_metric, cal_perc, last_blinker_frame, saturated_count)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, AM, LaC, LoC,
read_only, start_time, v_acc, a_acc,
lac_log, events_prev, last_blinker_frame,
is_ldw_enabled, can_error_counter)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
def controlsd_thread(gctx=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
# Pub Sockets
sendcan = messaging.pub_sock(service_list['sendcan'].port)
controlsstate = messaging.pub_sock(service_list['controlsState'].port)
carstate = messaging.pub_sock(service_list['carState'].port)
carcontrol = messaging.pub_sock(service_list['carControl'].port)
carevents = messaging.pub_sock(service_list['carEvents'].port)
carparams = messaging.pub_sock(service_list['carParams'].port)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
sm = messaging.SubMaster([
'thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan',
'pathPlan'
])
logcan = messaging.sub_sock(service_list['can'].port)
CI, CP = get_car(logcan, sendcan)
logcan.close()
# TODO: Use the logcan socket from above, but that will currenly break the tests
can_sock = messaging.sub_sock(service_list['can'].port, timeout=100)
CC = car.CarControl.new_message()
AM = AlertManager()
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
read_only = not car_recognized or not controller_available
if read_only:
CP.safetyModel = car.CarParams.SafetyModel.elm327 # diagnostic only
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
else:
LaC = LatControlINDI(CP)
driver_status = DriverStatus()
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
events_prev = []
sm['pathPlan'].sensorValid = True
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter =\
data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, state, mismatch_counter, params)
prof.checkpoint("Sample")
# Create alerts
if not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, carstate,
carcontrol, carevents, carparams,
controlsstate, sendcan, AM, driver_status,
LaC, LoC, read_only, start_time, v_acc,
a_acc, lac_log, events_prev)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl',
'carEvents', 'carParams'
])
self.camera_packets = ["roadCameraState", "driverCameraState"]
if TICI:
self.camera_packets.append("wideRoadCameraState")
params = Params()
self.joystick_mode = params.get_bool("JoystickDebugMode")
joystick_packet = ['testJoystick'] if self.joystick_mode else []
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'
] if SIMULATION else None
self.sm = messaging.SubMaster(
[
'deviceState', 'pandaStates', 'peripheralState', 'modelV2',
'liveCalibration', 'driverMonitoringState',
'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState'
] + self.camera_packets + joystick_packet,
ignore_alive=ignore,
ignore_avg_freq=['radarState', 'longitudinalPlan'])
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT',
False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
if TICI:
self.log_sock = messaging.sub_sock('androidLog')
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
# read params
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature = self.CP.communityFeature or \
self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
community_feature_disallowed = community_feature and (
not community_feature_toggle)
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
safety_config = car.CarParams.SafetyConfig.new_message()
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP)
self.VM = VehicleModel(self.CP)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.initialized = False
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False
self.button_timers = {
ButtonEvent.Type.decelCruise: 0,
ButtonEvent.Type.accelCruise: 0
}
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized,
controller_available,
len(self.CP.carFw) > 0)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed and car_recognized and not self.CP.dashcamOnly:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
elif self.read_only:
self.events.add(EventName.dashcamMode, static=True)
elif self.joystick_mode:
self.events.add(EventName.joystickDebug, static=True)
self.startup_event = None
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def controlsd_thread(sm=None, pm=None, can_sock=None):
gc.disable()
# start the loop
set_realtime_priority(3)
params = Params()
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster([
'sendcan', 'controlsState', 'carState', 'carControl', 'carEvents',
'carParams'
])
if sm is None:
sm = messaging.SubMaster(['thermal', 'health', 'liveCalibration', 'driverMonitoring', 'plan', 'pathPlan', \
'gpsLocation'], ignore_alive=['gpsLocation'])
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
can_sock = messaging.sub_sock(service_list['can'].port,
timeout=can_timeout)
# wait for health and CAN packets
hw_type = messaging.recv_one(sm.sock['health']).health.hwType
is_panda_black = hw_type == log.HealthData.HwType.blackPanda
print("Waiting for CAN messages...")
get_one_can(can_sock)
CI, CP = get_car(can_sock, pm.sock['sendcan'], is_panda_black)
car_recognized = CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not chffrplus
controller_available = CP.enableCamera and CI.CC is not None and not passive
read_only = not car_recognized or not controller_available or CP.dashcamOnly
if read_only:
CP.safetyModel = CP.safetyModelPassive
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl",
"1" if CP.openpilotLongitudinalControl else "0")
CC = car.CarControl.new_message()
AM = AlertManager()
startup_alert = get_startup_alert(car_recognized, controller_available)
AM.add(sm.frame, startup_alert, False)
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
elif CP.lateralTuning.which() == 'indi':
LaC = LatControlINDI(CP)
elif CP.lateralTuning.which() == 'lqr':
LaC = LatControlLQR(CP)
driver_status = DriverStatus()
is_rhd = params.get("IsRHD")
if is_rhd is not None:
driver_status.is_rhd = bool(int(is_rhd))
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
events_prev = []
sm['pathPlan'].sensorValid = True
sm['pathPlan'].posenetValid = True
# detect sound card presence
sounds_available = not os.path.isfile('/EON') or (
os.path.isdir('/proc/asound/card0')
and open('/proc/asound/card0/state').read().strip() == 'ONLINE')
# controlsd is driven by can recv, expected at 100Hz
rk = Ratekeeper(100, print_delay_threshold=None)
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter =\
data_sample(CI, CC, sm, can_sock, cal_status, cal_perc, overtemp, free_space, low_battery,
driver_status, state, mismatch_counter, params)
prof.checkpoint("Sample")
# Create alerts
if not sm.all_alive_and_valid():
events.append(
create_event('commIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['pathPlan'].mpcSolutionValid:
events.append(
create_event('plannerError',
[ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sm['pathPlan'].sensorValid:
events.append(
create_event('sensorDataInvalid', [ET.NO_ENTRY, ET.PERMANENT]))
if not sm['pathPlan'].paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not sm['pathPlan'].posenetValid:
events.append(
create_event('posenetInvalid', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not sm['plan'].radarValid:
events.append(
create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if sm['plan'].radarCanError:
events.append(
create_event('radarCanError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not CS.canValid:
events.append(
create_event('canError', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not sounds_available:
events.append(
create_event('soundsUnavailable', [ET.NO_ENTRY, ET.PERMANENT]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and sm[
'plan'].vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(
create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not read_only:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(sm.frame, CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, v_acc, a_acc, lac_log = \
state_control(sm.frame, sm.rcv_frame, sm['plan'], sm['pathPlan'], CS, CP, state, events, v_cruise_kph, v_cruise_kph_last, AM, rk,
driver_status, LaC, LoC, VM, read_only, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC, events_prev = data_send(sm, pm, CS, CI, CP, VM, state, events,
actuators, v_cruise_kph, rk, AM,
driver_status, LaC, LoC, read_only,
start_time, v_acc, a_acc, lac_log,
events_prev)
prof.checkpoint("Sent")
rk.monitor_time()
prof.display()
def controlsd_thread(gctx=None, rate=100):
gc.disable()
# start the loop
set_realtime_priority(3)
context = zmq.Context()
params = Params()
# Pub Sockets
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)
is_metric = params.get("IsMetric") == "1"
passive = params.get("Passive") != "0"
# No sendcan if passive
if not passive:
sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
else:
sendcan = None
# Sub sockets
poller = zmq.Poller()
thermal = messaging.sub_sock(context, service_list['thermal'].port, conflate=True, poller=poller)
health = messaging.sub_sock(context, service_list['health'].port, conflate=True, poller=poller)
cal = messaging.sub_sock(context, service_list['liveCalibration'].port, conflate=True, poller=poller)
driver_monitor = messaging.sub_sock(context, service_list['driverMonitoring'].port, conflate=True, poller=poller)
plan_sock = messaging.sub_sock(context, service_list['plan'].port, conflate=True, poller=poller)
path_plan_sock = messaging.sub_sock(context, service_list['pathPlan'].port, conflate=True, poller=poller)
logcan = messaging.sub_sock(context, service_list['can'].port)
CC = car.CarControl.new_message()
CI, CP = get_car(logcan, sendcan, 1.0 if passive else None)
if CI is None:
raise Exception("unsupported car")
# if stock camera is connected, then force passive behavior
if not CP.enableCamera:
passive = True
sendcan = None
if passive:
CP.safetyModel = car.CarParams.SafetyModels.noOutput
LoC = LongControl(CP, CI.compute_gb)
VM = VehicleModel(CP)
if CP.lateralTuning.which() == 'pid':
LaC = LatControlPID(CP)
else:
LaC = LatControlINDI(CP)
AM = AlertManager()
driver_status = DriverStatus()
if not passive:
AM.add("startup", False)
# Write CarParams for radard and boardd safety mode
params.put("CarParams", CP.to_bytes())
params.put("LongitudinalControl", "1" if CP.openpilotLongitudinalControl else "0")
state = State.disabled
soft_disable_timer = 0
v_cruise_kph = 255
v_cruise_kph_last = 0
overtemp = False
free_space = False
cal_status = Calibration.INVALID
cal_perc = 0
mismatch_counter = 0
low_battery = False
rcv_times = defaultdict(int)
plan = messaging.new_message()
plan.init('plan')
path_plan = messaging.new_message()
path_plan.init('pathPlan')
rk = Ratekeeper(rate, print_delay_threshold=2. / 1000)
controls_params = params.get("ControlsParams")
# Read angle offset from previous drive
angle_model_bias = 0.
if controls_params is not None:
try:
controls_params = json.loads(controls_params)
angle_model_bias = controls_params['angle_model_bias']
LaC.angle_ff_gain = max(1.0, controls_params['angle_ff_gain'])
LaC.rate_ff_gain = min(0.01, controls_params['rate_ff_gain'])
except (ValueError, KeyError):
pass
prof = Profiler(False) # off by default
while True:
start_time = sec_since_boot()
prof.checkpoint("Ratekeeper", ignore=True)
# Sample data and compute car events
CS, events, cal_status, cal_perc, overtemp, free_space, low_battery, mismatch_counter, plan, path_plan =\
data_sample(rcv_times, CI, CC, plan_sock, path_plan_sock, thermal, cal, health, driver_monitor,
poller, cal_status, cal_perc, overtemp, free_space, low_battery, driver_status,
state, mismatch_counter, params, plan, path_plan)
prof.checkpoint("Sample")
# Create alerts
path_plan_age = start_time - rcv_times['pathPlan']
plan_age = start_time - rcv_times['plan']
if not path_plan.pathPlan.valid or plan_age > 0.5 or path_plan_age > 0.5:
events.append(create_event('plannerError', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not path_plan.pathPlan.paramsValid:
events.append(create_event('vehicleModelInvalid', [ET.WARNING]))
if not path_plan.pathPlan.modelValid:
events.append(create_event('modelCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not plan.plan.radarValid:
events.append(create_event('radarFault', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if plan.plan.radarCommIssue:
events.append(create_event('radarCommIssue', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and plan.plan.vTargetFuture >= STARTING_TARGET_SPEED and not CP.radarOffCan and CS.vEgo < 0.3:
events.append(create_event('noTarget', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
if not passive:
# update control state
state, soft_disable_timer, v_cruise_kph, v_cruise_kph_last = \
state_transition(CS, CP, state, events, soft_disable_timer, v_cruise_kph, AM)
prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_cruise_kph, driver_status, angle_model_bias, v_acc, a_acc, lac_log = \
state_control(rcv_times, plan.plan, path_plan.pathPlan, CS, CP, state, events, v_cruise_kph,
v_cruise_kph_last, AM, rk, driver_status,
LaC, LoC, VM, angle_model_bias, passive, is_metric, cal_perc)
prof.checkpoint("State Control")
# Publish data
CC = data_send(plan, path_plan, CS, CI, CP, VM, state, events, actuators, v_cruise_kph, rk, carstate, carcontrol,
live100, AM, driver_status, LaC, LoC, angle_model_bias, passive, start_time, v_acc, a_acc, lac_log)
prof.checkpoint("Sent")
rk.keep_time() # Run at 100Hz
prof.display()
def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
config_realtime_process(4, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.camera_packets = ["roadCameraState", "driverCameraState"]
if TICI:
self.camera_packets.append("wideRoadCameraState")
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 20
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
if TICI:
self.log_sock = messaging.sub_sock('androidLog')
if CI is None:
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'])
else:
self.CI, self.CP = CI, CI.CP
params = Params()
self.joystick_mode = params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
joystick_packet = ['testJoystick'] if self.joystick_mode else []
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
# set alternative experiences from parameters
self.disengage_on_accelerator = params.get_bool("DisengageOnAccelerator")
self.CP.alternativeExperience = 0
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
# read params
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
self.read_only = not car_recognized or not controller_available or self.CP.dashcamOnly
if self.read_only:
safety_config = car.CarParams.SafetyConfig.new_message()
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
self.CP.safetyConfigs = [safety_config]
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.CS_prev = car.CarState.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP)
self.VM = VehicleModel(self.CP)
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP, self.CI)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI)
self.initialized = False
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.cruise_mismatch_counter = 0
self.can_rcv_error_counter = 0
self.last_blinker_frame = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = None
self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
self.last_actuators = car.CarControl.Actuators.new_message()
# scc smoother
self.is_cruise_enabled = False
self.applyMaxSpeed = 0
self.apply_accel = 0.
self.fused_accel = 0.
self.lead_drel = 0.
self.aReqValue = 0.
self.aReqValueMin = 0.
self.aReqValueMax = 0.
self.sccStockCamStatus = 0
self.sccStockCamAct = 0
self.left_lane_visible = False
self.right_lane_visible = False
self.wide_camera = TICI and params.get_bool('EnableWideCamera')
self.disable_op_fcw = params.get_bool('DisableOpFcw')
self.mad_mode_enabled = Params().get_bool('MadModeEnabled')
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
if len(self.CP.carFw) > 0:
set_offroad_alert("Offroad_CarUnrecognized", True)
else:
set_offroad_alert("Offroad_NoFirmware", True)
elif self.read_only:
self.events.add(EventName.dashcamMode, static=True)
elif self.joystick_mode:
self.events.add(EventName.joystickDebug, static=True)
self.startup_event = None
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def __init__(self, sm=None, pm=None, can_sock=None, arne_sm=None):
gc.disable()
set_realtime_priority(53)
set_core_affinity(3)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.sm = sm
if self.sm is None:
self.sm = messaging.SubMaster(['thermal', 'health', 'frame', 'model', 'liveCalibration',
'dMonitoringState', 'plan', 'pathPlan', 'liveLocationKalman', 'radarState'])
self.arne_sm = arne_sm
if self.arne_sm is None:
self.arne_sm = messaging_arne.SubMaster(['arne182Status', 'dynamicFollowButton', 'trafficModelEvent', 'modelLongButton' ])
self.op_params = opParams()
self.df_manager = dfManager(self.op_params)
self.hide_auto_df_alerts = self.op_params.get('hide_auto_df_alerts')
self.traffic_light_alerts = self.op_params.get('traffic_light_alerts')
self.last_model_long = False
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one health and one CAN packet
hw_type = messaging.recv_one(self.sm.sock['health']).health.hwType
has_relay = hw_type in [HwType.blackPanda, HwType.uno, HwType.dos]
print("Waiting for CAN messages...")
messaging.get_one_can(self.can_sock)
self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], has_relay)
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled", encoding='utf8') == "1"
internet_needed = (params.get("Offroad_ConnectivityNeeded", encoding='utf8') is not None) and (params.get("DisableUpdates") != b"1")
community_feature_toggle = params.get("CommunityFeaturesToggle", encoding='utf8') == "1"
openpilot_enabled_toggle = params.get("OpenpilotEnabledToggle", encoding='utf8') == "1"
passive = params.get("Passive", encoding='utf8') == "1" or \
internet_needed or not openpilot_enabled_toggle
# detect sound card presence and ensure successful init
#sounds_available = not ANDROID or get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive
community_feature_disallowed = self.CP.communityFeature and not community_feature_toggle
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard and boardd safety mode
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
put_nonblocking("LongitudinalControl", "1" if self.CP.openpilotLongitudinalControl else "0")
if self.CP.openpilotLongitudinalControl and self.CP.safetyModel in [car.CarParams.SafetyModel.hondaBoschGiraffe, car.CarParams.SafetyModel.hondaBoschHarness]:
disable_radar(can_sock, pm.sock['sendcan'], 1 if has_relay else 0, timeout=1, retry=10)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.eventsArne182 = Events_arne182()
self.LoC = LongControl(self.CP, self.CI.compute_gb)
self.VM = VehicleModel(self.CP)
if self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.last_ldw_frame = 0
self.saturated_count = 0
self.distance_traveled_now = 0
if not travis:
self.distance_traveled = float(params.get("DistanceTraveled", encoding='utf8'))
self.distance_traveled_engaged = float(params.get("DistanceTraveledEngaged", encoding='utf8'))
self.distance_traveled_override = float(params.get("DistanceTraveledOverride", encoding='utf8'))
else:
self.distance_traveled = 0
self.distance_traveled_engaged = 0
self.distance_traveled_override = 0
self.distance_traveled_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.sm['liveCalibration'].calStatus = Calibration.INVALID
self.sm['thermal'].freeSpace = 1.
self.sm['dMonitoringState'].events = []
self.sm['dMonitoringState'].awarenessStatus = 1.
self.sm['dMonitoringState'].faceDetected = False
self.startup_event = get_startup_event(car_recognized, controller_available)
#if not sounds_available:
# self.events.add(EventName.soundsUnavailable, static=True)
if internet_needed:
self.events.add(EventName.internetConnectivityNeeded, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if self.read_only and not passive:
self.events.add(EventName.carUnrecognized, static=True)
if hw_type == HwType.whitePanda:
self.events.add(EventName.whitePandaUnsupported, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(4 if TICI else 3, Priority.CTRL_HIGH)
# Setup sockets
self.pm = pm
if self.pm is None:
self.pm = messaging.PubMaster(['sendcan', 'controlsState', 'carState',
'carControl', 'carEvents', 'carParams'])
self.sm = sm
if self.sm is None:
ignore = ['driverCameraState', 'managerState'] if SIMULATION else ['ubloxd']
self.sm = messaging.SubMaster(['deviceState', 'pandaState', 'modelV2', 'liveCalibration',
'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
'roadCameraState', 'driverCameraState', 'managerState', 'liveParameters', 'radarState'],
ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan'])
self.can_sock = can_sock
if can_sock is None:
can_timeout = None if os.environ.get('NO_CAN_TIMEOUT', False) else 100
self.can_sock = messaging.sub_sock('can', timeout=can_timeout)
# wait for one pandaState and one CAN packet
print("Waiting for CAN messages...")
get_one_can(self.can_sock)
self.CI, self.CP, candidate = get_car(self.can_sock, self.pm.sock['sendcan'])
# read params
params = Params()
self.is_metric = params.get_bool("IsMetric")
self.is_ldw_enabled = params.get_bool("IsLdwEnabled")
self.enable_lte_onroad = params.get_bool("EnableLteOnroad")
community_feature_toggle = params.get_bool("CommunityFeaturesToggle")
openpilot_enabled_toggle = params.get_bool("OpenpilotEnabledToggle")
passive = params.get_bool("Passive") or not openpilot_enabled_toggle
self.commIssue_ignored = params.get_bool("ComIssueGone")
self.auto_enabled = params.get_bool("AutoEnable") and params.get_bool("MadModeEnabled")
# detect sound card presence and ensure successful init
sounds_available = HARDWARE.get_sound_card_online()
car_recognized = self.CP.carName != 'mock'
fuzzy_fingerprint = self.CP.fuzzyFingerprint
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature = self.CP.communityFeature or fuzzy_fingerprint
community_feature_disallowed = community_feature and (not community_feature_toggle)
self.read_only = not car_recognized or not controller_available or \
self.CP.dashcamOnly or community_feature_disallowed
if self.read_only:
self.CP.safetyModel = car.CarParams.SafetyModel.noOutput
# Write CarParams for radard
cp_bytes = self.CP.to_bytes()
params.put("CarParams", cp_bytes)
put_nonblocking("CarParamsCache", cp_bytes)
self.CC = car.CarControl.new_message()
self.AM = AlertManager()
self.events = Events()
self.LoC = LongControl(self.CP, self.CI.compute_gb, candidate)
self.VM = VehicleModel(self.CP)
self.lateral_control_method = 0
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP)
self.lateral_control_method = 3
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP)
self.lateral_control_method = 0
elif self.CP.lateralTuning.which() == 'indi':
self.LaC = LatControlINDI(self.CP)
self.lateral_control_method = 1
elif self.CP.lateralTuning.which() == 'lqr':
self.LaC = LatControlLQR(self.CP)
self.lateral_control_method = 2
self.long_plan_source = 0
self.controlsAllowed = False
self.initialized = False
self.state = State.disabled
self.enabled = False
self.active = False
self.can_rcv_error = False
self.soft_disable_timer = 0
self.v_cruise_kph = 255
self.v_cruise_kph_last = 0
self.mismatch_counter = 0
self.can_error_counter = 0
self.last_blinker_frame = 0
self.saturated_count = 0
self.distance_traveled = 0
self.last_functional_fan_frame = 0
self.events_prev = []
self.current_alert_types = [ET.PERMANENT]
self.logged_comm_issue = False
# TODO: no longer necessary, aside from process replay
self.sm['liveParameters'].valid = True
self.startup_event = get_startup_event(car_recognized, controller_available, fuzzy_fingerprint)
if not sounds_available:
self.events.add(EventName.soundsUnavailable, static=True)
if community_feature_disallowed:
self.events.add(EventName.communityFeatureDisallowed, static=True)
if not car_recognized:
self.events.add(EventName.carUnrecognized, static=True)
#elif self.read_only:
# self.events.add(EventName.dashcamMode, static=True)
# controlsd is driven by can recv, expected at 100Hz
self.rk = Ratekeeper(100, print_delay_threshold=None)
self.prof = Profiler(False) # off by default
self.hyundai_lkas = self.read_only #read_only
self.mpc_frame = 0
self.steerRatio_Max = float(int(params.get("SteerRatioMaxAdj", encoding="utf8")) * 0.1)
self.angle_differ_range = [0, 15]
self.steerRatio_range = [self.CP.steerRatio, self.steerRatio_Max]
self.new_steerRatio = self.CP.steerRatio
self.new_steerRatio_prev = self.CP.steerRatio
self.steerRatio_to_send = 0
self.model_long_alert_prev = True
self.delayed_comm_issue_timer = 0
