class Controls:
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 update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Don't add any more events if not initialized
if not self.initialized:
self.events.add(EventName.controlsInitializing)
return
# Create events for battery, temperature, disk space, and memory
if EON and (self.sm['peripheralState'].pandaType != PandaType.uno) and \
self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
# at zero percent battery, while discharging, OP should not allowed
self.events.add(EventName.lowBattery)
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
# TODO: make tici threshold the same
if self.sm['deviceState'].memoryUsagePercent > (90 if TICI else
65) and not SIMULATION:
self.events.add(EventName.lowMemory)
cpus = list(
self.sm['deviceState'].cpuUsagePercent)[:(-1 if EON else None)]
if max(cpus, default=0) > 95 and not SIMULATION:
self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].pandaType in [
PandaType.uno, PandaType.dos
]:
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm[
'deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame -
self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm[
'lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in [
LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing
]:
self.events.add(EventName.laneChange)
if self.can_rcv_error or not CS.canValid:
self.events.add(EventName.canError)
for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent
if i < len(self.CP.safetyConfigs):
safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[
i].safetyModel or pandaState.safetyParam != self.CP.safetyConfigs[
i].safetyParam
else:
safety_mismatch = pandaState.safetyModel != SafetyModel.silent
if safety_mismatch or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
elif not self.sm.valid["pandaStates"]:
self.events.add(EventName.usbError)
elif not self.sm.all_alive_and_valid():
self.events.add(EventName.commIssue)
if not self.logged_comm_issue:
invalid = [
s for s, valid in self.sm.valid.items() if not valid
]
not_alive = [
s for s, alive in self.sm.alive.items() if not alive
]
cloudlog.event("commIssue",
invalid=invalid,
not_alive=not_alive)
self.logged_comm_issue = True
else:
self.logged_comm_issue = False
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
for pandaState in self.sm['pandaStates']:
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
model_fcw = self.sm[
'modelV2'].meta.hardBrakePredicted and not CS.brakePressed
if planner_fcw or model_fcw:
self.events.add(EventName.fcw)
if TICI:
logs = messaging.drain_sock(self.log_sock, wait_for_one=False)
messages = []
for m in logs:
try:
messages.append(m.androidLog.message)
except UnicodeDecodeError:
pass
for err in [
"ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW",
"APPLY FAILED"
]:
for m in messages:
if err not in m:
continue
csid = m.split("CSID:")[-1].split(" ")[0]
evt = {
"0": EventName.roadCameraError,
"1": EventName.wideRoadCameraError,
"2": EventName.driverCameraError
}.get(csid, None)
if evt is not None:
self.events.add(evt)
# TODO: fix simulator
if not SIMULATION:
if not NOSENSOR:
if not self.sm['liveLocationKalman'].gpsOK and (
self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
if self.sm['liveLocationKalman'].excessiveResets:
self.events.add(EventName.localizerMalfunction)
# Check if all manager processes are running
not_running = set(p.name for p in self.sm['managerState'].processes
if not p.running)
if self.sm.rcv_frame['managerState'] and (not_running -
IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
speeds = self.sm['longitudinalPlan'].speeds
if len(speeds) > 1:
v_future = speeds[-1]
else:
v_future = 100.0
if CS.brakePressed and v_future >= self.CP.vEgoStarting \
and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
self.events.add(EventName.noTarget)
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
all_valid = CS.canValid and self.sm.all_alive_and_valid()
if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 3.5
or SIMULATION):
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
if not can_strs:
self.can_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
if not self.enabled:
self.mismatch_counter = 0
# All pandas not in silent mode must have controlsAllowed when openpilot is enabled
for pandaState in self.sm['pandaStates']:
if pandaState.safetyModel != SafetyModel.silent and not pandaState.controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph,
CS.buttonEvents,
self.button_timers,
self.enabled, self.is_metric)
elif self.CP.pcmCruise and CS.cruiseState.enabled:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = 300 # 3s
self.current_alert_types.append(ET.SOFT_DISABLE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.events.any(
ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_kph = initialize_v_cruise(
CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns an actuators packet"""
# Update VehicleModel
params = self.sm['liveParameters']
x = max(params.stiffnessFactor, 0.1)
sr = max(params.steerRatio, 0.1)
self.VM.update_params(x, sr)
lat_plan = self.sm['lateralPlan']
long_plan = self.sm['longitudinalPlan']
actuators = car.CarControl.Actuators.new_message()
actuators.longControlState = self.LoC.long_control_state
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not self.active:
self.LaC.reset()
self.LoC.reset(v_pid=CS.vEgo)
if not self.joystick_mode:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(
self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
actuators.accel = self.LoC.update(self.active, CS, self.CP,
long_plan, pid_accel_limits)
# Steering PID loop and lateral MPC
desired_curvature, desired_curvature_rate = get_lag_adjusted_curvature(
self.CP, CS.vEgo, lat_plan.psis, lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(
self.active, CS, self.CP, self.VM, params, desired_curvature,
desired_curvature_rate)
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0 and self.active:
actuators.accel = 4.0 * clip(self.sm['testJoystick'].axes[0],
-1, 1)
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
# max angle is 45 for angle-based cars
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
lac_log.active = True
lac_log.steeringAngleDeg = CS.steeringAngleDeg
lac_log.output = steer
lac_log.saturated = abs(steer) >= 0.9
# Check for difference between desired angle and angle for angle based control
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
if angle_control_saturated and not CS.steeringPressed and self.active:
self.saturated_count += 1
else:
self.saturated_count = 0
# Send a "steering required alert" if saturation count has reached the limit
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
if len(lat_plan.dPathPoints):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[
0] < -0.1
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[
0] > 0.1
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
# Ensure no NaNs/Infs
for p in ACTUATOR_FIELDS:
attr = getattr(actuators, p)
if not isinstance(attr, Number):
continue
if not math.isfinite(attr):
cloudlog.error(
f"actuators.{p} not finite {actuators.to_dict()}")
setattr(actuators, p, 0.0)
return actuators, lac_log
def update_button_timers(self, buttonEvents):
# increment timer for buttons still pressed
for k in self.button_timers.keys():
if self.button_timers[k] > 0:
self.button_timers[k] += 1
for b in buttonEvents:
if b.type.raw in self.button_timers:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
def publish_logs(self, CS, start_time, actuators, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
CC = car.CarControl.new_message()
CC.enabled = self.enabled
CC.active = self.active
CC.actuators = actuators
CC.cruiseControl.cancel = CS.cruiseState.enabled and (
not self.enabled or not self.CP.pcmCruise)
if self.joystick_mode and self.sm.rcv_frame[
'testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (self.sm.frame - self.last_blinker_frame
) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['modelV2'].meta
if len(meta.desirePrediction) and ldw_allowed:
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft -
1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight -
1]
l_lane_close = left_lane_visible and (
self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (
self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
CC.hudControl.leftLaneDepart = bool(
l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(
r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types,
[self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
if not self.read_only and self.initialized:
# send car controls over can
can_sends = self.CI.apply(CC)
self.pm.send(
'sendcan',
can_list_to_can_capnp(can_sends,
msgtype='sendcan',
valid=CS.canValid))
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
# Curvature & Steering angle
params = self.sm['liveParameters']
steer_angle_without_offset = math.radians(CS.steeringAngleDeg -
params.angleOffsetAverageDeg)
curvature = -self.VM.calc_curvature(steer_angle_without_offset,
CS.vEgo)
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime[
'longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.curvature = curvature
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
if self.joystick_mode:
controlsState.lateralControlState.debugState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif self.CP.lateralTuning.which() == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL)
== 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
self.prof.checkpoint("Sample")
self.update_events(CS)
if not self.read_only and self.initialized:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, actuators, lac_log)
self.prof.checkpoint("Sent")
self.update_button_timers(CS.buttonEvents)
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
class Controls:
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 update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['dMonitoringState'].events)
# Handle startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Create events for battery, temperature, disk space, and memory
if self.sm['thermal'].batteryPercent < 1 and self.sm['thermal'].chargingError:
# at zero percent battery, while discharging, OP should not allowed
self.events.add(EventName.lowBattery)
if self.sm['thermal'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['thermal'].freeSpace < 0.07:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
if self.sm['thermal'].memUsedPercent > 90:
self.events.add(EventName.lowMemory)
# Alert if fan isn't spinning for 5 seconds
if self.sm['health'].hwType in [HwType.uno, HwType.dos]:
if self.sm['health'].fanSpeedRpm == 0 and self.sm['thermal'].fanSpeed > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm['pathPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['pathPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['pathPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing]:
self.events.add(EventName.laneChange)
if self.can_rcv_error or (not CS.canValid and self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.canError)
if self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if not self.sm.alive['plan'] and self.sm.alive['pathPlan']:
# only plan not being received: radar not communicating
self.events.add(EventName.radarCommIssue)
elif not self.sm.all_alive_and_valid():
self.events.add(EventName.commIssue)
if not self.sm['pathPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
if not (SIMULATION or NOSENSOR): # TODO: send GPS in carla
self.events.add(EventName.noGps)
if not self.sm['pathPlan'].paramsValid:
self.events.add(EventName.vehicleModelInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if not self.sm['plan'].radarValid:
self.events.add(EventName.radarFault)
if self.sm['plan'].radarCanError:
self.events.add(EventName.radarCanError)
if log.HealthData.FaultType.relayMalfunction in self.sm['health'].faults:
self.events.add(EventName.relayMalfunction)
if self.sm['plan'].fcw:
self.events.add(EventName.fcw)
if self.sm['model'].frameDropPerc > 1 and (not SIMULATION):
self.events.add(EventName.modeldLagging)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and self.sm['plan'].vTargetFuture >= STARTING_TARGET_SPEED \
and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
self.events.add(EventName.noTarget)
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
# Check for CAN timeout
if not can_strs:
self.can_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
if not self.enabled:
self.mismatch_counter = 0
if not self.sm['health'].controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.enableCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
elif self.CP.enableCruise and CS.cruiseState.enabled:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = 300 # 3s
self.current_alert_types.append(ET.SOFT_DISABLE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns an actuators packet"""
plan = self.sm['plan']
path_plan = self.sm['pathPlan']
actuators = car.CarControl.Actuators.new_message()
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not self.active:
self.LaC.reset()
self.LoC.reset(v_pid=CS.vEgo)
plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['plan'])
# no greater than dt mpc + dt, to prevent too high extraps
dt = min(plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
a_acc_sol = plan.aStart + (dt / LON_MPC_STEP) * (plan.aTarget - plan.aStart)
v_acc_sol = plan.vStart + dt * (a_acc_sol + plan.aStart) / 2.0
# Gas/Brake PID loop
actuators.gas, actuators.brake = self.LoC.update(self.active, CS, v_acc_sol, plan.vTargetFuture, a_acc_sol, self.CP)
# Steering PID loop and lateral MPC
actuators.steer, actuators.steerAngle, lac_log = self.LaC.update(self.active, CS, self.CP, path_plan)
# Check for difference between desired angle and angle for angle based control
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
abs(actuators.steerAngle - CS.steeringAngle) > STEER_ANGLE_SATURATION_THRESHOLD
if angle_control_saturated and not CS.steeringPressed and self.active:
self.saturated_count += 1
else:
self.saturated_count = 0
# Send a "steering required alert" if saturation count has reached the limit
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and path_plan.dPoly[3] > 0.1
right_deviation = actuators.steer < 0 and path_plan.dPoly[3] < -0.1
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
return actuators, v_acc_sol, a_acc_sol, lac_log
def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
CC = car.CarControl.new_message()
CC.enabled = self.enabled
CC.actuators = actuators
CC.cruiseControl.override = True
CC.cruiseControl.cancel = not self.CP.enableCruise or (not self.enabled and CS.cruiseState.enabled)
# Some override values for Honda
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['plan'].aTarget, CS.vEgo, self.sm['plan'].vTarget)
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['plan'].hasLead
right_lane_visible = self.sm['pathPlan'].rProb > 0.5
left_lane_visible = self.sm['pathPlan'].lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['model'].meta
if len(meta.desirePrediction) and ldw_allowed:
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
l_lane_close = left_lane_visible and (self.sm['pathPlan'].lPoly[3] < (1.08 - CAMERA_OFFSET))
r_lane_close = right_lane_visible and (self.sm['pathPlan'].rPoly[3] > -(1.08 + CAMERA_OFFSET))
CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
if not self.read_only:
# send car controls over can
can_sends = self.CI.apply(CC)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
force_decel = (self.sm['dMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
steer_angle_rad = (CS.steeringAngle - self.sm['pathPlan'].angleOffset) * CV.DEG_TO_RAD
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
controlsState.driverMonitoringOn = self.sm['dMonitoringState'].faceDetected
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.planMonoTime = self.sm.logMonoTime['plan']
controlsState.pathPlanMonoTime = self.sm.logMonoTime['pathPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.vEgo = CS.vEgo
controlsState.vEgoRaw = CS.vEgoRaw
controlsState.angleSteers = CS.steeringAngle
controlsState.curvature = self.VM.calc_curvature(steer_angle_rad, CS.vEgo)
controlsState.steerOverride = CS.steeringPressed
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.angleSteersDes = float(self.LaC.angle_steers_des)
controlsState.vTargetLead = float(v_acc)
controlsState.aTarget = float(a_acc)
controlsState.jerkFactor = float(self.sm['plan'].jerkFactor)
controlsState.gpsPlannerActive = self.sm['plan'].gpsPlannerActive
controlsState.vCurvature = self.sm['plan'].vCurvature
controlsState.decelForModel = self.sm['plan'].longitudinalPlanSource == LongitudinalPlanSource.model
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.mapValid = self.sm['plan'].mapValid
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
if self.CP.lateralTuning.which() == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
self.prof.checkpoint("Sample")
self.update_events(CS)
if not self.read_only:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
self.prof.checkpoint("Sent")
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
def dmonitoringd_thread(sm=None, pm=None):
gc.disable()
# start the loop
set_realtime_priority(53)
params = Params()
# Pub/Sub Sockets
if pm is None:
pm = messaging.PubMaster(['dMonitoringState'])
if sm is None:
sm = messaging.SubMaster(
['driverState', 'liveCalibration', 'carState', 'model'])
driver_status = DriverStatus()
is_rhd = params.get("IsRHD")
if is_rhd is not None:
driver_status.is_rhd_region = bool(int(is_rhd))
driver_status.is_rhd_region_checked = True
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['carState'].vEgo = 0.
sm['carState'].cruiseState.enabled = False
sm['carState'].cruiseState.speed = 0.
sm['carState'].buttonEvents = []
sm['carState'].steeringPressed = False
sm['carState'].gasPressed = False
sm['carState'].standstill = True
cal_rpy = [0, 0, 0]
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
# Handle calibration
if sm.updated['liveCalibration']:
if sm['liveCalibration'].calStatus == Calibration.CALIBRATED:
if len(sm['liveCalibration'].rpyCalib) == 3:
cal_rpy = sm['liveCalibration'].rpyCalib
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if driver_engaged:
driver_status.update(Events(), True,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
v_cruise_last = v_cruise
# Get model meta
if sm.updated['model']:
driver_status.set_policy(sm['model'])
# Get data from dmonitoringmodeld
if sm.updated['driverState']:
events = Events()
driver_status.get_pose(sm['driverState'], cal_rpy,
sm['carState'].vEgo,
sm['carState'].cruiseState.enabled)
# Block any engage after certain distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
# dMonitoringState packet
dat = messaging.new_message('dMonitoringState')
dat.dMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"isRHD":
driver_status.is_rhd_region,
"rhdChecked":
driver_status.is_rhd_region_checked,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isPreview":
False,
}
pm.send('dMonitoringState', dat)
def dmonitoringd_thread(sm=None, pm=None):
if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverState', 'liveCalibration', 'carState', 'controlsState',
'modelV2'
],
poll=['driverState'])
driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].vEgo = 0.
sm['carState'].buttonEvents = []
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverState']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
if driver_engaged:
driver_status.update(Events(), True,
sm['controlsState'].enabled,
sm['carState'].standstill,
sm['carState'].vEgo)
v_cruise_last = v_cruise
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'])
# Get data from dmonitoringmodeld
events = Events()
driver_status.get_pose(sm['driverState'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['controlsState'].enabled,
sm['carState'].standstill, sm['carState'].vEgo)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState')
dat.driverMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isActiveMode":
driver_status.active_monitoring_mode,
}
pm.send('driverMonitoringState', dat)
class Controls:
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, 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 = 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)
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")) * 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
def auto_enable(self, CS):
if self.state != State.enabled and CS.vEgo >= 3 * CV.KPH_TO_MS and CS.gearShifter == 2 and self.sm['liveCalibration'].calStatus != Calibration.UNCALIBRATED:
if self.sm.all_alive_and_valid() and self.enabled != self.controlsAllowed:
self.events.add( EventName.pcmEnable )
def update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Don't add any more events if not initialized
if not self.initialized:
self.events.add(EventName.controlsInitializing)
return
# Create events for battery, temperature, disk space, and memory
if self.sm['deviceState'].batteryPercent < 1 and self.sm['deviceState'].chargingError:
# at zero percent battery, while discharging, OP should not allowed
self.events.add(EventName.lowBattery)
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['deviceState'].freeSpacePercent < 7:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
if self.sm['deviceState'].memoryUsagePercent > 90:
self.events.add(EventName.lowMemory)
# Alert if fan isn't spinning for 5 seconds
if self.sm['pandaState'].pandaType in [PandaType.uno, PandaType.dos]:
if self.sm['pandaState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in [LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing]:
self.events.add(EventName.laneChange)
if self.can_rcv_error or not CS.canValid:
self.events.add(EventName.canError)
safety_mismatch = self.sm['pandaState'].safetyModel != self.CP.safetyModel or self.sm['pandaState'].safetyParam != self.CP.safetyParam
if safety_mismatch or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
elif not self.sm.all_alive_and_valid() and self.sm['pandaState'].pandaType != PandaType.whitePanda and not self.commIssue_ignored:
self.delayed_comm_issue_timer += 1
if self.delayed_comm_issue_timer > 100:
self.events.add(EventName.commIssue)
if not self.logged_comm_issue:
cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
self.logged_comm_issue = True
else:
self.logged_comm_issue = False
self.delayed_comm_issue_timer = 0
if not self.sm['lateralPlan'].mpcSolutionValid and not (EventName.laneChangeManual in self.events.names) and CS.steeringAngleDeg < 15:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if log.PandaState.FaultType.relayMalfunction in self.sm['pandaState'].faults:
self.events.add(EventName.relayMalfunction)
if self.sm['longitudinalPlan'].fcw:
self.events.add(EventName.fcw)
# TODO: fix simulator
if not SIMULATION:
#if not NOSENSOR:
# if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and \
# (not TICI or self.enable_lte_onroad):
# # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
# self.events.add(EventName.noGps)
if not self.sm.all_alive(['roadCameraState', 'driverCameraState']):
self.events.add(EventName.cameraMalfunction)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
# Check if all manager processes are running
not_running = set(p.name for p in self.sm['managerState'].processes if not p.running)
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
#if CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \
# and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
# self.events.add(EventName.noTarget)
# ModelLongAlert
if Params().get_bool("ModelLongEnabled") and self.model_long_alert_prev:
self.events.add(EventName.modelLongAlert)
self.model_long_alert_prev = not self.model_long_alert_prev
elif not Params().get_bool("ModelLongEnabled"):
self.model_long_alert_prev = True
# atom
if self.auto_enabled:
self.auto_enable( CS )
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
all_valid = CS.canValid and self.sm.all_alive_and_valid()
if not self.initialized and (all_valid or self.sm.frame * DT_CTRL > 2.0):
self.initialized = True
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
if not can_strs:
self.can_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
self.controlsAllowed = self.sm['pandaState'].controlsAllowed
if not self.enabled:
self.mismatch_counter = 0
elif not self.controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
# if stock cruise is completely disabled, then we can use our own set speed logic
# self.CP.enableCruise is true
self.CP.enableCruise = self.CI.CP.enableCruise
if not self.CP.enableCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.buttonEvents, self.enabled)
if int(CS.vSetDis)-1 > self.v_cruise_kph:
self.v_cruise_kph = int(CS.vSetDis)
elif self.CP.enableCruise and CS.cruiseState.enabled:
if Params().get_bool('OpkrVariableCruise') and CS.cruiseState.modeSel != 0 and self.CP.vCruisekph > 30:
self.v_cruise_kph = self.CP.vCruisekph
self.v_cruise_kph_last = self.v_cruise_kph
elif CS.cruiseButtons == Buttons.RES_ACCEL and Params().get_bool('OpkrVariableCruise') and CS.cruiseState.modeSel != 0 and CS.vSetDis < (self.v_cruise_kph_last - 1):
self.v_cruise_kph = self.v_cruise_kph_last
if int(CS.vSetDis)-1 > self.v_cruise_kph:
self.v_cruise_kph = int(CS.vSetDis)
elif CS.cruiseButtons == Buttons.RES_ACCEL and Params().get_bool('OpkrVariableCruise') and CS.cruiseState.modeSel != 0 and 30 <= self.v_cruise_kph_last <= round(CS.vEgo*CV.MS_TO_KPH):
self.v_cruise_kph = round(CS.vEgo*CV.MS_TO_KPH)
if int(CS.vSetDis)-1 > self.v_cruise_kph:
self.v_cruise_kph = int(CS.vSetDis)
self.v_cruise_kph_last = self.v_cruise_kph
elif CS.cruiseButtons == Buttons.RES_ACCEL or CS.cruiseButtons == Buttons.SET_DECEL:
self.v_cruise_kph = round(CS.cruiseState.speed * CV.MS_TO_KPH)
self.v_cruise_kph_last = self.v_cruise_kph
elif CS.driverAcc and Params().get_bool('OpkrVariableCruise') and Params().get_bool('CruiseOverMaxSpeed') and 30 <= self.v_cruise_kph < int(round(CS.vEgo*CV.MS_TO_KPH)):
self.v_cruise_kph = int(round(CS.vEgo*CV.MS_TO_KPH))
self.v_cruise_kph_last = self.v_cruise_kph
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = 300 # 3s
self.current_alert_types.append(ET.SOFT_DISABLE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.events.any(ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
#self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
self.v_cruise_kph = 0
self.v_cruise_kph_last = 0
# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns an actuators packet"""
lat_plan = self.sm['lateralPlan']
long_plan = self.sm['longitudinalPlan']
anglesteer_current = CS.steeringAngleDeg
anglesteer_desire = lat_plan.steerAngleDesireDeg
output_scale = lat_plan.outputScale
live_sr = Params().get_bool('OpkrLiveSteerRatio')
if not live_sr:
angle_diff = abs(anglesteer_desire) - abs(anglesteer_current)
if abs(output_scale) >= self.CP.steerMaxV[0] and CS.vEgo > 8:
self.new_steerRatio_prev = interp(angle_diff, self.angle_differ_range, self.steerRatio_range)
if self.new_steerRatio_prev > self.new_steerRatio:
self.new_steerRatio = self.new_steerRatio_prev
else:
self.mpc_frame += 1
if self.mpc_frame % 100 == 0:
self.new_steerRatio -= 0.1
if self.new_steerRatio <= self.CP.steerRatio:
self.new_steerRatio = self.CP.steerRatio
self.mpc_frame = 0
# Update VehicleModel
params = self.sm['liveParameters']
x = max(params.stiffnessFactor, 0.1)
if live_sr:
sr = max(params.steerRatio, 0.1)
else:
sr = max(self.new_steerRatio, 0.1)
self.VM.update_params(x, sr)
self.steerRatio_to_send = sr
actuators = car.CarControl.Actuators.new_message()
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not self.active:
self.LaC.reset()
self.LoC.reset(v_pid=CS.vEgo)
long_plan_age = DT_CTRL * (self.sm.frame - self.sm.rcv_frame['longitudinalPlan'])
# no greater than dt mpc + dt, to prevent too high extraps
dt = min(long_plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
a_acc_sol = long_plan.aStart + (dt / LON_MPC_STEP) * (long_plan.aTarget - long_plan.aStart)
v_acc_sol = long_plan.vStart + dt * (a_acc_sol + long_plan.aStart) / 2.0
extras_loc = {'lead_one': self.sm['radarState'].leadOne, 'has_lead': long_plan.hasLead}
# Gas/Brake PID loop
actuators.gas, actuators.brake = self.LoC.update(self.active and CS.cruiseState.speed > 1., CS, v_acc_sol, long_plan.vTargetFuture, long_plan.aTarget, a_acc_sol, self.CP, long_plan.hasLead, self.sm['radarState'], long_plan.longitudinalPlanSource, extras_loc)
# Steering PID loop and lateral MPC
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(self.active, CS, self.CP, self.VM, params, lat_plan)
# Check for difference between desired angle and angle for angle based control
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
if angle_control_saturated and not CS.steeringPressed and self.active:
self.saturated_count += 1
else:
self.saturated_count = 0
# Send a "steering required alert" if saturation count has reached the limit
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
if len(lat_plan.dPathPoints):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[0] < -0.1
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[0] > 0.1
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
return actuators, v_acc_sol, a_acc_sol, lac_log
def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
self.log_alertTextMsg1 = trace1.global_alertTextMsg1
self.log_alertTextMsg2 = trace1.global_alertTextMsg2
CC = car.CarControl.new_message()
CC.enabled = self.enabled
CC.actuators = actuators
CC.cruiseControl.override = True
CC.cruiseControl.cancel = self.CP.enableCruise and not self.enabled and CS.cruiseState.enabled
# Some override values for Honda
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
speed_override = max(0.0, (self.LoC.v_pid + CS.cruiseState.speedOffset) * brake_discount)
CC.cruiseControl.speedOverride = float(speed_override if self.CP.enableCruise else 0.0)
CC.cruiseControl.accelOverride = self.CI.calc_accel_override(CS.aEgo, self.sm['longitudinalPlan'].aTarget, CS.vEgo, self.sm['longitudinalPlan'].vTarget)
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
CC.hudControl.leadDistance = self.sm['radarState'].leadOne.dRel
CC.hudControl.leadvRel = self.sm['radarState'].leadOne.vRel
CC.hudControl.leadyRel = self.sm['radarState'].leadOne.yRel
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['modelV2'].meta
if len(meta.desirePrediction) and ldw_allowed:
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
if CS.cruiseState.modeSel == 3:
l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET_A))
r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET_A))
else:
l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
if not self.hyundai_lkas and self.enabled:
# send car controls over can
can_sends = self.CI.apply(CC, self.sm)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
# Curvature & Steering angle
params = self.sm['liveParameters']
lat_plan = self.sm['lateralPlan']
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetAverageDeg)
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo)
angle_steers_des = math.degrees(self.VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
angle_steers_des += params.angleOffsetDeg
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.curvature = curvature
controlsState.steeringAngleDesiredDeg = angle_steers_des
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.id)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.vTargetLead = float(v_acc)
controlsState.aTarget = float(a_acc)
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
controlsState.alertTextMsg1 = self.log_alertTextMsg1
controlsState.alertTextMsg2 = self.log_alertTextMsg2
controlsState.limitSpeedCamera = float(self.sm['longitudinalPlan'].targetSpeedCamera)
controlsState.limitSpeedCameraDist = float(self.sm['longitudinalPlan'].targetSpeedCameraDist)
controlsState.lateralControlMethod = int(self.lateral_control_method)
controlsState.steerRatio = float(self.steerRatio_to_send)
if self.sm['longitudinalPlan'].longitudinalPlanSource == LongitudinalPlanSource.cruise:
self.long_plan_source = 1
elif self.sm['longitudinalPlan'].longitudinalPlanSource == LongitudinalPlanSource.mpc1:
self.long_plan_source = 2
elif self.sm['longitudinalPlan'].longitudinalPlanSource == LongitudinalPlanSource.mpc2:
self.long_plan_source = 3
elif self.sm['longitudinalPlan'].longitudinalPlanSource == LongitudinalPlanSource.mpc3:
self.long_plan_source = 4
elif self.sm['longitudinalPlan'].longitudinalPlanSource == LongitudinalPlanSource.model:
self.long_plan_source = 5
else:
self.long_plan_source = 0
controlsState.longPlanSource = self.long_plan_source
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif self.CP.lateralTuning.which() == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
self.prof.checkpoint("Sample")
if self.read_only:
self.hyundai_lkas = self.read_only
elif CS.cruiseState.enabled and self.hyundai_lkas:
self.hyundai_lkas = False
self.update_events(CS)
if not self.hyundai_lkas:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
self.prof.checkpoint("Sent")
if not CS.cruiseState.enabled and not self.hyundai_lkas:
self.hyundai_lkas = True
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
class Controls:
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)
self.LaC: LatControl
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() == '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()
self.desired_curvature = 0.0
self.desired_curvature_rate = 0.0
# 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 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 update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
# Add startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Don't add any more events if not initialized
if not self.initialized:
self.events.add(EventName.controlsInitializing)
return
# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)):
self.events.add(EventName.pedalPressed)
if CS.gasPressed:
self.events.add(EventName.pedalPressedPreEnable if self.disengage_on_accelerator else
EventName.gasPressedOverride)
if not self.CP.notCar:
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle car events. Ignore when CAN is invalid
if CS.canTimeout:
self.events.add(EventName.canBusMissing)
elif not CS.canValid:
self.events.add(EventName.canError)
else:
self.events.add_from_msg(CS.events)
# Create events for temperature, disk space, and memory
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
# TODO: make tici threshold the same
if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
self.events.add(EventName.lowMemory)
# TODO: enable this once loggerd CPU usage is more reasonable
#cpus = list(self.sm['deviceState'].cpuUsagePercent)
#if max(cpus, default=0) > 95 and not SIMULATION:
# self.events.add(EventName.highCpuUsage)
# Alert if fan isn't spinning for 5 seconds
if self.sm['peripheralState'].pandaType == PandaType.dos:
if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm['lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in (LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing):
self.events.add(EventName.laneChange)
for i, pandaState in enumerate(self.sm['pandaStates']):
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
if i < len(self.CP.safetyConfigs):
safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
pandaState.alternativeExperience != self.CP.alternativeExperience
else:
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
if safety_mismatch or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
self.events.add(EventName.relayMalfunction)
# Handle HW and system malfunctions
# Order is very intentional here. Be careful when modifying this.
# All events here should at least have NO_ENTRY and SOFT_DISABLE.
num_events = len(self.events)
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
else:
if not SIMULATION and not self.rk.lagging:
if not self.sm.all_alive(self.camera_packets):
self.events.add(EventName.cameraMalfunction)
elif not self.sm.all_freq_ok(self.camera_packets):
self.events.add(EventName.cameraFrameRate)
if self.rk.lagging:
self.events.add(EventName.controlsdLagging)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
if not self.sm.valid['pandaStates']:
self.events.add(EventName.usbError)
# generic catch-all. ideally, a more specific event should be added above instead
no_system_errors = len(self.events) != num_events
if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
if not self.sm.all_alive():
self.events.add(EventName.commIssue)
elif not self.sm.all_freq_ok():
self.events.add(EventName.commIssueAvgFreq)
else: # invalid or can_rcv_error.
self.events.add(EventName.commIssue)
logs = {
'invalid': [s for s, valid in self.sm.valid.items() if not valid],
'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
'can_error': self.can_rcv_error,
}
if logs != self.logged_comm_issue:
cloudlog.event("commIssue", error=True, **logs)
self.logged_comm_issue = logs
else:
self.logged_comm_issue = None
if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid)
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if not REPLAY:
# Check for mismatch between openpilot and car's PCM
cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
if self.cruise_mismatch_counter > int(6. / DT_CTRL):
self.events.add(EventName.cruiseMismatch)
# Check for FCW
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
if planner_fcw or model_fcw:
self.events.add(EventName.fcw)
if TICI:
for m in messaging.drain_sock(self.log_sock, wait_for_one=False):
try:
msg = m.androidLog.message
if any(err in msg for err in ("ERROR_CRC", "ERROR_ECC", "ERROR_STREAM_UNDERFLOW", "APPLY FAILED")):
csid = msg.split("CSID:")[-1].split(" ")[0]
evt = CSID_MAP.get(csid, None)
if evt is not None:
self.events.add(evt)
except UnicodeDecodeError:
pass
# TODO: fix simulator
if not SIMULATION:
if not NOSENSOR:
if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
self.events.add(EventName.noGps)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
if self.sm['liveLocationKalman'].excessiveResets:
self.events.add(EventName.localizerMalfunction)
# Only allow engagement with brake pressed when stopped behind another stopped car
speeds = self.sm['longitudinalPlan'].speeds
if len(speeds) > 1:
v_future = speeds[-1]
else:
v_future = 100.0
if CS.brakePressed and v_future >= self.CP.vEgoStarting \
and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
self.events.add(EventName.noTarget)
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
if not self.initialized:
all_valid = CS.canValid and self.sm.all_checks()
if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
if not self.read_only:
self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
self.initialized = True
if REPLAY and self.sm['pandaStates'][0].controlsAllowed:
self.state = State.enabled
Params().put_bool("ControlsReady", True)
# Check for CAN timeout
if not can_strs:
self.can_rcv_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
if not self.enabled:
self.mismatch_counter = 0
# All pandas not in silent mode must have controlsAllowed when openpilot is enabled
if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
if ps.safetyModel not in IGNORED_SAFETY_MODES):
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.pcmCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
self.button_timers, self.enabled, self.is_metric)
else:
if CS.cruiseState.available:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
else:
self.v_cruise_kph = 0
# decrement the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.events.any(ET.OVERRIDE):
self.state = State.overriding
self.current_alert_types.append(ET.OVERRIDE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if self.events.any(ET.NO_ENTRY):
self.state = State.disabled
self.current_alert_types.append(ET.NO_ENTRY)
elif not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# OVERRIDING
elif self.state == State.overriding:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif not self.events.any(ET.OVERRIDE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.OVERRIDE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
elif self.events.any(ET.OVERRIDE):
self.state = State.overriding
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
if not self.CP.pcmCruise:
self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if openpilot is engaged and actuators are enabled
self.enabled = self.state in ENABLED_STATES
self.active = self.state in ACTIVE_STATES
if self.active:
self.current_alert_types.append(ET.WARNING)
def state_control(self, CS):
"""Given the state, this function returns a CarControl packet"""
# Update VehicleModel
params = self.sm['liveParameters']
x = max(params.stiffnessFactor, 0.1)
sr = max(params.steerRatio, 0.1)
self.VM.update_params(x, sr)
lat_plan = self.sm['lateralPlan']
long_plan = self.sm['longitudinalPlan']
CC = car.CarControl.new_message()
CC.enabled = self.enabled
# Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not CC.latActive:
self.LaC.reset()
if not CC.longActive:
self.LoC.reset(v_pid=CS.vEgo)
if not self.joystick_mode:
# accel PID loop
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, self.v_cruise_kph * CV.KPH_TO_MS)
t_since_plan = (self.sm.frame - self.sm.rcv_frame['longitudinalPlan']) * DT_CTRL
actuators.accel = self.LoC.update(CC.longActive, CS, long_plan, pid_accel_limits, t_since_plan)
# Steering PID loop and lateral MPC
self.desired_curvature, self.desired_curvature_rate = get_lag_adjusted_curvature(self.CP, CS.vEgo,
lat_plan.psis,
lat_plan.curvatures,
lat_plan.curvatureRates)
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
self.last_actuators, self.desired_curvature,
self.desired_curvature_rate, self.sm['liveLocationKalman'])
else:
lac_log = log.ControlsState.LateralDebugState.new_message()
if self.sm.rcv_frame['testJoystick'] > 0:
if CC.longActive:
actuators.accel = 4.0*clip(self.sm['testJoystick'].axes[0], -1, 1)
if CC.latActive:
steer = clip(self.sm['testJoystick'].axes[1], -1, 1)
# max angle is 45 for angle-based cars
actuators.steer, actuators.steeringAngleDeg = steer, steer * 45.
lac_log.active = self.active
lac_log.steeringAngleDeg = CS.steeringAngleDeg
lac_log.output = actuators.steer
lac_log.saturated = abs(actuators.steer) >= 0.9
# Send a "steering required alert" if saturation count has reached the limit
if lac_log.active and lac_log.saturated and not CS.steeringPressed:
dpath_points = lat_plan.dPathPoints
if len(dpath_points):
# Check if we deviated from the path
# TODO use desired vs actual curvature
left_deviation = actuators.steer > 0 and dpath_points[0] < -0.20
right_deviation = actuators.steer < 0 and dpath_points[0] > 0.20
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
# Ensure no NaNs/Infs
for p in ACTUATOR_FIELDS:
attr = getattr(actuators, p)
if not isinstance(attr, SupportsFloat):
continue
if not math.isfinite(attr):
cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
setattr(actuators, p, 0.0)
return CC, lac_log
def update_button_timers(self, buttonEvents):
# increment timer for buttons still pressed
for k in self.button_timers:
if self.button_timers[k] > 0:
self.button_timers[k] += 1
for b in buttonEvents:
if b.type.raw in self.button_timers:
self.button_timers[b.type.raw] = 1 if b.pressed else 0
def publish_logs(self, CS, start_time, CC, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
# Orientation and angle rates can be useful for carcontroller
# Only calibrated (car) frame is relevant for the carcontroller
orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value)
if len(orientation_value) > 2:
CC.orientationNED = orientation_value
angular_rate_value = list(self.sm['liveLocationKalman'].angularVelocityCalibrated.value)
if len(angular_rate_value) > 2:
CC.angularVelocity = angular_rate_value
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True
hudControl = CC.hudControl
hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
hudControl.speedVisible = self.enabled
hudControl.lanesVisible = self.enabled
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
hudControl.rightLaneVisible = True
hudControl.leftLaneVisible = True
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
model_v2 = self.sm['modelV2']
desire_prediction = model_v2.meta.desirePrediction
if len(desire_prediction) and ldw_allowed:
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
lane_lines = model_v2.laneLines
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event_types = set()
if ET.WARNING not in self.current_alert_types:
clear_event_types.add(ET.WARNING)
if self.enabled:
clear_event_types.add(ET.NO_ENTRY)
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, CS, self.sm, self.is_metric, self.soft_disable_timer])
self.AM.add_many(self.sm.frame, alerts)
current_alert = self.AM.process_alerts(self.sm.frame, clear_event_types)
if current_alert:
hudControl.visualAlert = current_alert.visual_alert
if not self.read_only and self.initialized:
# send car controls over can
self.last_actuators, can_sends = self.CI.apply(CC)
self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
CC.actuatorsOutput = self.last_actuators
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
# Curvature & Steering angle
params = self.sm['liveParameters']
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - params.angleOffsetDeg)
curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, params.roll)
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
if current_alert:
controlsState.alertText1 = current_alert.alert_text_1
controlsState.alertText2 = current_alert.alert_text_2
controlsState.alertSize = current_alert.alert_size
controlsState.alertStatus = current_alert.alert_status
controlsState.alertBlinkingRate = current_alert.alert_rate
controlsState.alertType = current_alert.alert_type
controlsState.alertSound = current_alert.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.curvature = curvature
controlsState.desiredCurvature = self.desired_curvature
controlsState.desiredCurvatureRate = self.desired_curvature_rate
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_rcv_error_counter
lat_tuning = self.CP.lateralTuning.which()
if self.joystick_mode:
controlsState.lateralControlState.debugState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif lat_tuning == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif lat_tuning == 'torque':
controlsState.lateralControlState.torqueState = lac_log
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
cloudlog.timestamp("Data sampled")
self.prof.checkpoint("Sample")
self.update_events(CS)
cloudlog.timestamp("Events updated")
if not self.read_only and self.initialized:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
CC, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, CC, lac_log)
self.prof.checkpoint("Sent")
self.update_button_timers(CS.buttonEvents)
self.CS_prev = CS
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
def dmonitoringd_thread(sm=None, pm=None):
gc.disable()
set_realtime_priority(2)
if pm is None:
pm = messaging.PubMaster(['driverMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverStateV2', 'liveCalibration', 'carState', 'controlsState',
'modelV2'
],
poll=['driverStateV2'])
driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].buttonEvents = []
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# 10Hz <- dmonitoringmodeld
while True:
sm.update()
if not sm.updated['driverStateV2']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed
v_cruise_last = v_cruise
if sm.updated['modelV2']:
driver_status.set_policy(sm['modelV2'], sm['carState'].vEgo)
# Get data from dmonitoringmodeld
events = Events()
driver_status.update_states(sm['driverStateV2'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['controlsState'].enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= driver_status.settings._MAX_TERMINAL_ALERTS or \
driver_status.terminal_time >= driver_status.settings._MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update_events(events, driver_engaged,
sm['controlsState'].enabled,
sm['carState'].standstill)
# build driverMonitoringState packet
dat = messaging.new_message('driverMonitoringState')
dat.driverMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"distractedType":
sum(driver_status.distracted_types),
"awarenessStatus":
driver_status.awareness,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isActiveMode":
driver_status.active_monitoring_mode,
"isRHD":
driver_status.wheel_on_right,
}
pm.send('driverMonitoringState', dat)
# save rhd virtual toggle every 5 mins
if (sm['driverStateV2'].frameId % 6000 == 0
and driver_status.wheelpos_learner.filtered_stat.n >
driver_status.settings._WHEELPOS_FILTER_MIN_COUNT
and driver_status.wheel_on_right
== (driver_status.wheelpos_learner.filtered_stat.M >
driver_status.settings._WHEELPOS_THRESHOLD)):
put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
class Controls:
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
hw_type = messaging.recv_one(
self.sm.sock['pandaState']).pandaState.pandaType
has_relay = hw_type in [
PandaType.blackPanda, PandaType.uno, PandaType.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_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
# 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.angle_steers_des = 0.
self.road_limit_speed = 0
self.road_limit_left_dist = 0
self.v_cruise_kph_limit = 0
self.curve_speed_ms = 255.
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, hw_type)
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)
# if hw_type == PandaType.greyPanda:
# self.events.add(EventName.startupGreyPanda, 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 update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Create events for battery, temperature, disk space, and memory
if self.sm['deviceState'].batteryPercent < 1 and self.sm[
'deviceState'].chargingError:
# at zero percent battery, while discharging, OP should not allowed
self.events.add(EventName.lowBattery)
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['deviceState'].freeSpacePercent < 7:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
if self.sm['deviceState'].memoryUsagePercent > 90:
self.events.add(EventName.lowMemory)
# Alert if fan isn't spinning for 5 seconds
if self.sm['pandaState'].pandaType in [PandaType.uno, PandaType.dos]:
if self.sm['pandaState'].fanSpeedRpm == 0 and self.sm[
'deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame -
self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm[
'lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in [
LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing
]:
self.events.add(EventName.laneChange)
if self.can_rcv_error or (not CS.canValid
and self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.canError)
safety_mismatch = self.sm[
'pandaState'].safetyModel != self.CP.safetyModel
safety_mismatch = safety_mismatch or self.sm[
'pandaState'].safetyParam != self.CP.safetyParam
if (safety_mismatch and
self.sm.frame > 2 / DT_CTRL) or self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if not self.sm['liveParameters'].valid:
self.events.add(EventName.vehicleModelInvalid)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
#elif not self.sm.all_alive_and_valid():
#self.events.add(EventName.commIssue)
#if not self.logged_comm_issue:
#cloudlog.error(f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}")
#self.logged_comm_issue = True
else:
self.logged_comm_issue = False
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if log.PandaState.FaultType.relayMalfunction in self.sm[
'pandaState'].faults:
self.events.add(EventName.relayMalfunction)
if self.sm['longitudinalPlan'].fcw:
self.events.add(EventName.fcw)
# TODO: fix simulator
if not SIMULATION:
#if not NOSENSOR:
#if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and \
#(not TICI or self.enable_lte_onroad):
# Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
#self.events.add(EventName.noGps)
if not self.sm.all_alive(['roadCameraState', 'driverCameraState'
]) and (self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.cameraMalfunction)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
# Check if all manager processes are running
not_running = set(p.name for p in self.sm['managerState'].processes
if not p.running)
if self.sm.rcv_frame['managerState'] and (not_running -
IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \
and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3:
self.events.add(EventName.noTarget)
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
# Check for CAN timeout
if not can_strs:
self.can_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
if not self.enabled:
self.mismatch_counter = 0
if not self.sm['pandaState'].controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def cal_curve_speed(self, sm, v_ego, frame):
if frame % 10 == 0:
md = sm['modelV2']
if md is not None and len(
md.position.x) == TRAJECTORY_SIZE and len(
md.position.y) == TRAJECTORY_SIZE:
x = md.position.x
y = md.position.y
dy = np.gradient(y, x)
d2y = np.gradient(dy, x)
curv = d2y / (1 + dy**2)**1.5
curv = curv[5:TRAJECTORY_SIZE - 10]
a_y_max = 2.975 - v_ego * 0.0375 # ~1.85 @ 75mph, ~2.6 @ 25mph
v_curvature = np.sqrt(a_y_max /
np.clip(np.abs(curv), 1e-4, None))
model_speed = np.mean(v_curvature) * 0.9
if model_speed < v_ego:
self.curve_speed_ms = float(
max(model_speed, 32. * CV.KPH_TO_MS))
else:
self.curve_speed_ms = 255.
if np.isnan(self.curve_speed_ms):
self.curve_speed_ms = 255.
else:
self.curve_speed_ms = 255.
return self.curve_speed_ms
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.enableCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph,
CS.buttonEvents, self.enabled)
elif self.CP.enableCruise and CS.cruiseState.enabled:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
curv_speed_ms = self.cal_curve_speed(self.sm, CS.vEgo, self.sm.frame)
self.v_cruise_kph = min(self.v_cruise_kph,
curv_speed_ms * CV.MS_TO_KPH)
limit_speed, self.road_limit_speed, self.road_limit_left_dist, first_started, log = road_speed_limiter_get_max_speed(
CS, self.v_cruise_kph)
if limit_speed > 20:
self.v_cruise_kph_limit = min(limit_speed, self.v_cruise_kph)
if limit_speed < CS.vEgo * CV.MS_TO_KPH:
self.events.add(EventName.slowingDownSpeed)
else:
self.v_cruise_kph_limit = self.v_cruise_kph
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = 300 # 3s
self.current_alert_types.append(ET.SOFT_DISABLE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.events.any(
ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_kph = initialize_v_cruise(
CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns an actuators packet"""
# Neokii's live tune
# Update VehicleModel
params = self.sm['liveParameters']
x = max(params.stiffnessFactor, 0.1)
#sr = max(params.steerRatio, 0.1)
if ntune_isEnabled('useLiveSteerRatio'):
sr = max(self.sm['liveParameters'].steerRatio, 0.1)
else:
if self.CP.carName in [CAR.VOLT]:
sr = interp(abs(self.angle_steers_des), [5., 35.],
[13.5, 17.7])
else:
sr = max(ntune_get('steerRatio'), 0.1)
self.VM.update_params(x, sr)
lat_plan = self.sm['lateralPlan']
long_plan = self.sm['longitudinalPlan']
actuators = car.CarControl.Actuators.new_message()
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not self.active:
self.LaC.reset()
self.LoC.reset(v_pid=CS.vEgo)
long_plan_age = DT_CTRL * (self.sm.frame -
self.sm.rcv_frame['longitudinalPlan'])
# no greater than dt mpc + dt, to prevent too high extraps
dt = min(long_plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
a_acc_sol = long_plan.aStart + (dt / LON_MPC_STEP) * (
long_plan.aTarget - long_plan.aStart)
v_acc_sol = long_plan.vStart + dt * (a_acc_sol +
long_plan.aStart) / 2.0
# Gas/Brake PID loop
actuators.gas, actuators.brake = self.LoC.update(
self.active, CS, v_acc_sol, long_plan.vTargetFuture, a_acc_sol,
self.CP)
# Steering PID loop and lateral MPC
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(
self.active, CS, self.CP, self.VM, params, lat_plan)
# Check for difference between desired angle and angle for angle based control
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
if angle_control_saturated and not CS.steeringPressed and self.active:
self.saturated_count += 1
else:
self.saturated_count = 0
# Send a "steering required alert" if saturation count has reached the limit
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
if len(lat_plan.dPathPoints):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[
0] < -0.1
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[
0] > 0.1
# Bellow 2Lines' notations are for disable Alerts
# if left_deviation or right_deviation:
# self.events.add(EventName.steerSaturated)
return actuators, v_acc_sol, a_acc_sol, lac_log
def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
CC = car.CarControl.new_message()
CC.enabled = self.enabled
CC.actuators = actuators
CC.cruiseControl.override = True
CC.cruiseControl.cancel = not self.CP.enableCruise or (
not self.enabled and CS.cruiseState.enabled)
# Some override values for Honda
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
speed_override = max(0.0,
(self.LoC.v_pid + CS.cruiseState.speedOffset) *
brake_discount)
CC.cruiseControl.speedOverride = float(
speed_override if self.CP.enableCruise else 0.0)
CC.cruiseControl.accelOverride = self.CI.calc_accel_override(
CS.aEgo, self.sm['longitudinalPlan'].aTarget, CS.vEgo,
self.sm['longitudinalPlan'].vTarget)
CC.hudControl.setSpeed = float(self.v_cruise_kph_limit * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (self.sm.frame - self.last_blinker_frame
) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['modelV2'].meta
if len(meta.desirePrediction) and ldw_allowed:
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft -
1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight -
1]
cameraOffset = ntune_get("cameraOffset")
l_lane_close = left_lane_visible and (
self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + cameraOffset))
r_lane_close = right_lane_visible and (
self.sm['modelV2'].laneLines[2].y[0] < (1.08 - cameraOffset))
CC.hudControl.leftLaneDepart = bool(
l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(
r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types,
[self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
if not self.read_only:
# send car controls over can
can_sends = self.CI.apply(CC)
self.pm.send(
'sendcan',
can_list_to_can_capnp(can_sends,
msgtype='sendcan',
valid=CS.canValid))
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
# Curvature & Steering angle
params = self.sm['liveParameters']
lat_plan = self.sm['lateralPlan']
steer_angle_without_offset = math.radians(CS.steeringAngleDeg -
params.angleOffsetAverageDeg)
curvature = -self.VM.calc_curvature(steer_angle_without_offset,
CS.vEgo)
self.angle_steers_des = math.degrees(
self.VM.get_steer_from_curvature(-lat_plan.curvature, CS.vEgo))
self.angle_steers_des += params.angleOffsetDeg
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime[
'longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
# bellow 3Lines are for Wheel Rotation
controlsState.vEgo = CS.vEgo
controlsState.vEgoRaw = CS.vEgoRaw
controlsState.steerOverride = CS.steeringPressed
# controlsState.angleSteers = CS.steeringAngleDeg
controlsState.curvature = curvature
controlsState.steeringAngleDesiredDeg = self.angle_steers_des
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph_limit)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.i)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.vTargetLead = float(v_acc)
controlsState.aTarget = float(a_acc)
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
controlsState.angleSteers = steer_angle_without_offset * CV.RAD_TO_DEG
controlsState.roadLimitSpeed = self.road_limit_speed
controlsState.roadLimitSpeedLeftDist = self.road_limit_left_dist
# display SR/SRC/SAD on Ui
controlsState.steerRatio = self.VM.sR
controlsState.steerRateCost = ntune_get('steerRateCost')
controlsState.steerActuatorDelay = ntune_get('steerActuatorDelay')
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif self.CP.lateralTuning.which() == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL)
== 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
self.prof.checkpoint("Sample")
self.update_events(CS)
if not self.read_only:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
self.prof.checkpoint("Sent")
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
def dmonitoringd_thread(sm=None, pm=None):
if pm is None:
pm = messaging.PubMaster(['dMonitoringState'])
if sm is None:
sm = messaging.SubMaster([
'driverState', 'liveCalibration', 'carState', 'model', 'dragonConf'
],
poll=['driverState'])
driver_status = DriverStatus()
driver_status.is_rhd_region = Params().get("IsRHD") == b"1"
offroad = Params().get("IsOffroad") == b"1"
sm['liveCalibration'].calStatus = Calibration.INVALID
sm['liveCalibration'].rpyCalib = [0, 0, 0]
sm['carState'].vEgo = 0.
sm['carState'].cruiseState.enabled = False
sm['carState'].cruiseState.speed = 0.
sm['carState'].buttonEvents = []
sm['carState'].steeringPressed = False
sm['carState'].gasPressed = False
sm['carState'].brakePressed = False
sm['carState'].standstill = True
v_cruise_last = 0
driver_engaged = False
# dp
sm['dragonConf'].dpDriverMonitor = True
sm['dragonConf'].dpSteeringMonitor = True
sm['dragonConf'].dpSteeringMonitorTimer = 70
# 10Hz <- dmonitoringmodeld
while True:
start_time = sec_since_boot()
sm.update()
# dp
if not sm['dragonConf'].dpDriverMonitor:
driver_status.active_monitoring_mode = False
driver_status.face_detected = False
driver_status.threshold_pre = 15. / sm[
'dragonConf'].dpSteeringMonitorTimer
driver_status.threshold_prompt = 6. / sm[
'dragonConf'].dpSteeringMonitorTimer
driver_status.step_change = DT_DMON / sm[
'dragonConf'].dpSteeringMonitorTimer
if not sm['dragonConf'].dpSteeringMonitor:
driver_status.awareness = 1.
driver_status.awareness_active = 1.
driver_status.awareness_passive = 1.
driver_status.terminal_alert_cnt = 0
driver_status.terminal_time = 0
if not sm.updated['driverState']:
continue
# Get interaction
if sm.updated['carState']:
v_cruise = sm['carState'].cruiseState.speed
driver_engaged = len(sm['carState'].buttonEvents) > 0 or \
v_cruise != v_cruise_last or \
sm['carState'].steeringPressed or \
sm['carState'].gasPressed or \
sm['carState'].brakePressed
if driver_engaged:
driver_status.update(Events(), True,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
v_cruise_last = v_cruise
if sm.updated['model']:
driver_status.set_policy(sm['model'])
# Get data from dmonitoringmodeld
events = Events()
if sm['dragonConf'].dpDriverMonitor:
driver_status.get_pose(sm['driverState'],
sm['liveCalibration'].rpyCalib,
sm['carState'].vEgo,
sm['carState'].cruiseState.enabled)
# Block engaging after max number of distrations
if driver_status.terminal_alert_cnt >= MAX_TERMINAL_ALERTS or driver_status.terminal_time >= MAX_TERMINAL_DURATION:
events.add(car.CarEvent.EventName.tooDistracted)
# Update events from driver state
driver_status.update(events, driver_engaged,
sm['carState'].cruiseState.enabled,
sm['carState'].standstill)
# build dMonitoringState packet
dat = messaging.new_message('dMonitoringState')
dat.dMonitoringState = {
"events":
events.to_msg(),
"faceDetected":
driver_status.face_detected,
"isDistracted":
driver_status.driver_distracted,
"awarenessStatus":
driver_status.awareness,
"isRHD":
driver_status.is_rhd_region,
"posePitchOffset":
driver_status.pose.pitch_offseter.filtered_stat.mean(),
"posePitchValidCount":
driver_status.pose.pitch_offseter.filtered_stat.n,
"poseYawOffset":
driver_status.pose.yaw_offseter.filtered_stat.mean(),
"poseYawValidCount":
driver_status.pose.yaw_offseter.filtered_stat.n,
"stepChange":
driver_status.step_change,
"awarenessActive":
driver_status.awareness_active,
"awarenessPassive":
driver_status.awareness_passive,
"isLowStd":
driver_status.pose.low_std,
"hiStdCount":
driver_status.hi_stds,
"isPreview":
offroad,
}
pm.send('dMonitoringState', dat)
diff = sec_since_boot() - start_time
if not sm['dragonConf'].dpDriverMonitor and diff < 0.1:
time.sleep(0.1 - diff)
class Planner():
def __init__(self, CP, init_v=0.0, init_a=0.0):
self.CP = CP
self.mpc = LongitudinalMpc()
self.fcw = False
self.v_desired = init_v
self.a_desired = init_a
self.alpha = np.exp(-DT_MDL / 2.0)
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
# dp
self.dp_accel_profile_ctrl = False
self.dp_accel_profile = DP_ACCEL_ECO
self.dp_following_profile_ctrl = False
self.dp_following_profile = 2
self.dp_following_dist = 1.8 # default val
self.cruise_source = 'cruise'
self.vision_turn_controller = VisionTurnController(CP)
self.speed_limit_controller = SpeedLimitController()
self.events = Events()
self.turn_speed_controller = TurnSpeedController()
def update(self, sm, CP):
# dp
self.dp_accel_profile_ctrl = sm['dragonConf'].dpAccelProfileCtrl
self.dp_accel_profile = sm['dragonConf'].dpAccelProfile
self.dp_following_profile_ctrl = sm[
'dragonConf'].dpFollowingProfileCtrl
self.dp_following_profile = sm['dragonConf'].dpFollowingProfile
v_ego = sm['carState'].vEgo
a_ego = sm['carState'].aEgo
v_cruise_kph = sm['controlsState'].vCruise
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
long_control_state = sm['controlsState'].longControlState
force_slow_decel = sm['controlsState'].forceDecel
enabled = (long_control_state
== LongCtrlState.pid) or (long_control_state
== LongCtrlState.stopping)
if not enabled or sm['carState'].gasPressed:
self.v_desired = v_ego
self.a_desired = a_ego
# Prevent divergence, smooth in current v_ego
self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
self.v_desired = max(0.0, self.v_desired)
# Get acceleration and active solutions for custom long mpc.
self.cruise_source, a_min_sol, v_cruise_sol = self.cruise_solutions(
enabled, self.v_desired, self.a_desired, v_cruise, sm)
if not self.dp_accel_profile_ctrl:
accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
else:
accel_limits = dp_calc_cruise_accel_limits(v_cruise,
self.dp_accel_profile)
accel_limits_turns = limit_accel_in_turns(
v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
accel_limits_turns[0] = min(accel_limits_turns[0],
accel_limits_turns[1])
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0],
self.a_desired + 0.05, a_min_sol)
accel_limits_turns[1] = max(accel_limits_turns[1],
self.a_desired - 0.05)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired, self.a_desired)
self.mpc.update(sm['carState'], sm['radarState'], v_cruise_sol)
self.mpc.set_desired_TR(1.8 if not self.dp_following_profile_ctrl else
self.dp_following_profile)
self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC,
self.mpc.v_solution)
self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC,
self.mpc.a_solution)
self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N],
T_IDXS_MPC[:-1],
self.mpc.j_solution)
#TODO counter is only needed because radar is glitchy, remove once radar is gone
self.fcw = self.mpc.crash_cnt > 5
if self.fcw:
cloudlog.info("FCW triggered")
# Interpolate 0.05 seconds and save as starting point for next iteration
a_prev = self.a_desired
self.a_desired = float(
interp(DT_MDL, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
self.v_desired = self.v_desired + DT_MDL * (self.a_desired +
a_prev) / 2.0
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_alive_and_valid(
service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime /
1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
longitudinalPlan.hasLead = sm['radarState'].leadOne.status
longitudinalPlan.longitudinalPlanSource = self.mpc.source if self.mpc.source != 'cruise' else self.cruise_source
longitudinalPlan.fcw = self.fcw
longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state
longitudinalPlan.visionTurnSpeed = float(
self.vision_turn_controller.v_turn)
longitudinalPlan.speedLimitControlState = self.speed_limit_controller.state
longitudinalPlan.speedLimit = float(
self.speed_limit_controller.speed_limit)
longitudinalPlan.speedLimitOffset = float(
self.speed_limit_controller.speed_limit_offset)
longitudinalPlan.distToSpeedLimit = float(
self.speed_limit_controller.distance)
longitudinalPlan.isMapSpeedLimit = bool(
self.speed_limit_controller.source ==
SpeedLimitResolver.Source.map_data)
longitudinalPlan.eventsDEPRECATED = self.events.to_msg()
longitudinalPlan.turnSpeedControlState = self.turn_speed_controller.state
longitudinalPlan.turnSpeed = float(
self.turn_speed_controller.speed_limit)
longitudinalPlan.distToTurn = float(
self.turn_speed_controller.distance)
longitudinalPlan.turnSign = int(self.turn_speed_controller.turn_sign)
pm.send('longitudinalPlan', plan_send)
def cruise_solutions(self, enabled, v_ego, a_ego, v_cruise, sm):
# Update controllers
self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
self.events = Events()
self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise,
self.events)
self.turn_speed_controller.update(enabled, v_ego, a_ego, sm)
# Pick solution with lowest acceleration target.
a_solutions = {'cruise': float("inf")}
v_solutions = {'cruise': v_cruise}
if self.vision_turn_controller.is_active:
a_solutions['turn'] = self.vision_turn_controller.a_target
v_solutions['turn'] = self.vision_turn_controller.v_turn
if self.speed_limit_controller.is_active:
a_solutions['limit'] = self.speed_limit_controller.a_target
v_solutions[
'limit'] = self.speed_limit_controller.speed_limit_offseted
if self.turn_speed_controller.is_active:
a_solutions['turnlimit'] = self.turn_speed_controller.a_target
v_solutions['turnlimit'] = self.turn_speed_controller.speed_limit
source = min(v_solutions, key=v_solutions.get)
return source, a_solutions[source], v_solutions[source]
def update(self, c, can_strings):
# ******************* do can recv *******************
canMonoTimes = []
self.cp.update_strings(can_strings)
ch_can_valid = self.cp.can_valid
self.epas_cp.update_strings(can_strings)
epas_can_valid = self.epas_cp.can_valid
self.pedal_cp.update_strings(can_strings)
pedal_can_valid = self.pedal_cp.can_valid
can_rcv_error = not (ch_can_valid and epas_can_valid
and pedal_can_valid)
self.CS.update(self.cp, self.epas_cp, self.pedal_cp)
# create message
ret = car.CarState.new_message()
ret.canValid = ch_can_valid # and epas_can_valid #and pedal_can_valid
# speeds
ret.vEgo = self.CS.v_ego
ret.aEgo = self.CS.a_ego
ret.vEgoRaw = self.CS.v_ego_raw
ret.yawRate = self.VM.yaw_rate(self.CS.angle_steers * CV.DEG_TO_RAD,
self.CS.v_ego)
ret.standstill = self.CS.standstill
ret.wheelSpeeds.fl = self.CS.v_wheel_fl
ret.wheelSpeeds.fr = self.CS.v_wheel_fr
ret.wheelSpeeds.rl = self.CS.v_wheel_rl
ret.wheelSpeeds.rr = self.CS.v_wheel_rr
# gas pedal, we don't use with with interceptor so it's always 0/False
ret.gas = self.CS.user_gas
if not self.CP.enableGasInterceptor:
ret.gasPressed = self.CS.user_gas_pressed
else:
ret.gasPressed = self.CS.user_gas_pressed
# brake pedal
ret.brakePressed = False # (self.CS.brake_pressed != 0) and (self.CS.cstm_btns.get_button_status("brake") == 0)
# FIXME: read sendcan for brakelights
brakelights_threshold = 0.1
ret.brakeLights = bool(self.CS.brake_switch
or c.actuators.brake > brakelights_threshold)
# steering wheel
ret.steeringAngle = self.CS.angle_steers
ret.steeringRate = self.CS.angle_steers_rate
# gear shifter lever
ret.gearShifter = self.CS.gear_shifter
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = True # self.CS.pcm_acc_status != 0
ret.cruiseState.speed = (
self.CS.v_cruise_pcm * CV.KPH_TO_MS *
(CV.MPH_TO_KPH if self.CS.imperial_speed_units else 1.0))
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.speedOffset = 0.0
ret.cruiseState.standstill = False
# TODO: button presses
buttonEvents = []
ret.leftBlinker = bool(self.CS.turn_signal_state_left == 1)
ret.rightBlinker = bool(self.CS.turn_signal_state_right == 1)
ret.doorOpen = not self.CS.door_all_closed
ret.seatbeltUnlatched = not self.CS.seatbelt
if self.CS.prev_turn_signal_stalk_state != self.CS.turn_signal_stalk_state:
if (self.CS.turn_signal_stalk_state == 1
or self.CS.prev_turn_signal_stalk_state == 1):
be = car.CarState.ButtonEvent.new_message()
be.type = "leftBlinker"
be.pressed = self.CS.turn_signal_stalk_state == 1
buttonEvents.append(be)
if (self.CS.turn_signal_stalk_state == 2
or self.CS.prev_turn_signal_stalk_state == 2):
be = car.CarState.ButtonEvent.new_message()
be.type = "rightBlinker"
be.pressed = self.CS.turn_signal_stalk_state == 2
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = "unknown"
if self.CS.cruise_buttons != 0:
be.pressed = True
but = self.CS.cruise_buttons
else:
be.pressed = False
but = self.CS.prev_cruise_buttons
if but == CruiseButtons.RES_ACCEL:
be.type = "accelCruise"
elif but == CruiseButtons.DECEL_SET:
be.type = "decelCruise"
elif but == CruiseButtons.CANCEL:
be.type = "cancel"
elif but == CruiseButtons.MAIN:
be.type = "altButton3"
buttonEvents.append(be)
if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
be = car.CarState.ButtonEvent.new_message()
be.type = "unknown"
be.pressed = bool(self.CS.cruise_buttons)
buttonEvents.append(be)
ret.buttonEvents = buttonEvents
# events
events = Events()
# notification messages for DAS
if (not c.enabled) and (self.CC.opState == 2):
self.CC.opState = 0
if c.enabled and (self.CC.opState == 0):
self.CC.opState = 1
if can_rcv_error:
self.can_invalid_count += 1
if (
self.can_invalid_count >= 100
): # BB increased to 100 to see if we still get the can error messages
events.add(EventName.invalidGiraffeHonda)
self.CS.DAS_canErrors = 1
if self.CC.opState == 1:
self.CC.opState = 2
else:
self.can_invalid_count = 0
if self.CS.steer_error:
if not self.CS.enableHSO:
events.add(EventName.steerUnavailable)
elif self.CS.steer_warning:
if not self.CS.enableHSO:
events.add(EventName.steerTempUnavailable)
if self.CC.opState == 1:
self.CC.opState = 2
if self.CS.brake_error:
events.add(EventName.brakeUnavailable)
if self.CC.opState == 1:
self.CC.opState = 2
if not ret.gearShifter == "drive":
events.add(EventName.wrongGear)
if c.enabled:
self.CC.DAS_222_accCameraBlind = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
if ret.doorOpen:
events.add(EventName.doorOpen)
self.CS.DAS_doorOpen = 1
if self.CC.opState == 1:
self.CC.opState = 0
if ret.seatbeltUnlatched:
events.add(EventName.seatbeltNotLatched)
if c.enabled:
self.CC.DAS_211_accNoSeatBelt = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
if self.CC.opState == 1:
self.CC.opState = 2
if self.CS.esp_disabled:
events.add(EventName.espDisabled)
if self.CC.opState == 1:
self.CC.opState = 2
if not self.CS.main_on:
events.add(EventName.wrongCarMode)
if self.CC.opState == 1:
self.CC.opState = 0
if ret.gearShifter == "reverse":
events.add(EventName.reverseGear)
self.CS.DAS_notInDrive = 1
if self.CC.opState == 1:
self.CC.opState = 0
if ret.gearShifter == "drive":
self.CS.DAS_notInDrive = 0
if self.CS.brake_hold:
events.add(EventName.brakeHold)
if self.CC.opState == 1:
self.CC.opState = 0
if self.CS.park_brake:
events.add(EventName.parkBrake)
if self.CC.opState == 1:
self.CC.opState = 0
if (not c.enabled) and (self.CC.opState == 1):
self.CC.opState = 0
if self.CP.enableCruise and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
# Standard OP method to disengage:
# disable on pedals rising edge or when brake is pressed and speed isn't zero
# if (ret.gasPressed and not self.gas_pressed_prev) or \
# (ret.brakePressed and (not self.brake_pressed_prev or ret.vEgo > 0.001)):
# events.add(EventName.steerTempUnavailable)
# if (self.CS.cstm_btns.get_button_status("brake")>0):
# if ((self.CS.brake_pressed !=0) != self.brake_pressed_prev): #break not canceling when pressed
# self.CS.cstm_btns.set_button_status("brake", 2 if self.CS.brake_pressed != 0 else 1)
# else:
# if ret.brakePressed:i
# events.add(EventName.pedalPressed)
# if ret.gasPressed:
# events.add(EventName.pedalPressed)
# it can happen that car cruise disables while comma system is enabled: need to
# keep braking if needed or if the speed is very low
if (self.CP.enableCruise and not ret.cruiseState.enabled
and c.actuators.brake <= 0.0):
# non loud alert if cruise disbales below 25mph as expected (+ a little margin)
if ret.vEgo < self.CP.minEnableSpeed + 2.0:
events.add(EventName.speedTooLow)
else:
events.add(EventName.cruiseDisabled)
if self.CS.CP.minEnableSpeed > 0 and ret.vEgo < 0.001:
events.add(EventName.manualRestart)
cur_time = self.frame * DT_CTRL
enable_pressed = False
# handle button presses
for b in ret.buttonEvents:
# do enable on both accel and decel buttons
if b.type == "altButton3" and not b.pressed:
print("enabled pressed at", cur_time)
self.last_enable_pressed = cur_time
enable_pressed = True
# do disable on button down
if b.type == "cancel" and b.pressed:
events.add(EventName.buttonCancel)
if self.CP.enableCruise:
# KEEP THIS EVENT LAST! send enable event if button is pressed and there are
# NO_ENTRY events, so controlsd will display alerts. Also not send enable events
# too close in time, so a no_entry will not be followed by another one.
# TODO: button press should be the only thing that triggers enble
if ((cur_time - self.last_enable_pressed) < 0.2 and ( # pylint: disable=chained-comparison
cur_time - self.last_enable_sent) > 0.2
and ret.cruiseState.enabled) or (enable_pressed and
events.any(ET.NO_ENTRY)):
if ret.seatbeltUnlatched:
self.CC.DAS_211_accNoSeatBelt = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
elif not ret.gearShifter == "drive":
self.CC.DAS_222_accCameraBlind = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
elif not self.CS.apEnabled:
self.CC.DAS_206_apUnavailable = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
else:
events.add(EventName.buttonEnable)
self.last_enable_sent = cur_time
elif enable_pressed:
if ret.seatbeltUnlatched:
self.CC.DAS_211_accNoSeatBelt = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
elif not ret.gearShifter == "drive":
self.CC.DAS_222_accCameraBlind = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
elif not self.CS.apEnabled:
self.CC.DAS_206_apUnavailable = 1
self.CC.warningCounter = 300
self.CC.warningNeeded = 1
else:
events.add(EventName.buttonEnable)
ret.events = events.to_msg()
ret.canMonoTimes = canMonoTimes
# update previous brake/gas pressed
self.gas_pressed_prev = ret.gasPressed
self.brake_pressed_prev = self.CS.brake_pressed != 0
# cast to reader so it can't be modified
return ret.as_reader()
class Planner():
def __init__(self, CP):
self.CP = CP
self.mpcs = {}
self.mpcs['lead0'] = LeadMpc(0)
self.mpcs['lead1'] = LeadMpc(1)
self.mpcs['cruise'] = LongitudinalMpc()
self.mpcs['custom'] = LimitsLongitudinalMpc()
self.fcw = False
self.fcw_checker = FCWChecker()
self.v_desired = 0.0
self.a_desired = 0.0
self.longitudinalPlanSource = 'cruise'
self.alpha = np.exp(-CP.radarTimeStep/2.0)
self.lead_0 = log.ModelDataV2.LeadDataV3.new_message()
self.lead_1 = log.ModelDataV2.LeadDataV3.new_message()
self.v_desired_trajectory = np.zeros(CONTROL_N)
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.vision_turn_controller = VisionTurnController(CP)
self.speed_limit_controller = SpeedLimitController()
self.events = Events()
self.turn_speed_controller = TurnSpeedController()
self._params = Params()
self.params_check_last_t = 0.
self.params_check_freq = 0.1 # check params at 10Hz
self.accel_mode = int(self._params.get("AccelMode", encoding="utf8")) # 0 = normal, 1 = sport; 2 = eco; 3 = creep
self.coasting_lead_d = -1. # [m] lead distance. -1. if no lead
self.coasting_lead_v = -10. # lead "absolute"" velocity
self.tr = 1.8
self.sessionInitTime = sec_since_boot()
self.debug_logging = False
self.debug_log_time_step = 0.333
self.last_debug_log_t = 0.
self.debug_log_path = "/data/openpilot/long_debug.csv"
if self.debug_logging:
with open(self.debug_log_path,"w") as f:
f.write(",".join([
"t",
"vEgo",
"vEgo (mph)",
"a lim low",
"a lim high",
"out a",
"out long plan"]) + "\n")
def update(self, sm, CP):
cur_time = sec_since_boot()
t = cur_time
v_ego = sm['carState'].vEgo
a_ego = sm['carState'].aEgo
v_cruise_kph = sm['controlsState'].vCruise
v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
v_cruise = v_cruise_kph * CV.KPH_TO_MS
long_control_state = sm['controlsState'].longControlState
force_slow_decel = sm['controlsState'].forceDecel
self.lead_0 = sm['radarState'].leadOne
self.lead_1 = sm['radarState'].leadTwo
enabled = (long_control_state == LongCtrlState.pid) or (long_control_state == LongCtrlState.stopping)
following = self.lead_1.status and self.lead_1.dRel < 45.0 and self.lead_1.vLeadK > v_ego and self.lead_1.aLeadK > 0.0
if self.lead_1.status:
self.coasting_lead_d = self.lead_1.dRel
self.coasting_lead_v = self.lead_1.vLead
else:
self.coasting_lead_d = -1.
self.coasting_lead_v = -10.
self.tr = self.mpcs['lead0'].tr
if not enabled or sm['carState'].gasPressed:
self.v_desired = v_ego
self.a_desired = a_ego
# Prevent divergence, smooth in current v_ego
self.v_desired = self.alpha * self.v_desired + (1 - self.alpha) * v_ego
self.v_desired = max(0.0, self.v_desired)
# Get acceleration and active solutions for custom long mpc.
a_mpc, active_mpc, c_source = self.mpc_solutions(enabled, self.v_desired, self.a_desired, v_cruise, sm)
if t - self.params_check_last_t >= self.params_check_freq:
self.params_check_last_t = t
accel_mode = int(self._params.get("AccelMode", encoding="utf8")) # 0 = normal, 1 = sport; 2 = eco
if accel_mode != self.accel_mode:
cloudlog.info(f"Acceleration mode changed, new value: {accel_mode} = {['normal','sport','eco','creep'][accel_mode]}")
self.accel_mode = accel_mode
accel_limits = calc_cruise_accel_limits(v_ego, following, self.accel_mode)
accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
if force_slow_decel:
# if required so, force a smooth deceleration
accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
# clip limits, cannot init MPC outside of bounds
accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired)
accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired)
self.mpcs['cruise'].set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
# ensure lower accel limit (for braking) is lower than target acc for custom controllers.
accel_limits = [min(accel_limits_turns[0], a_mpc['custom']), accel_limits_turns[1]]
self.mpcs['custom'].set_accel_limits(accel_limits[0], accel_limits[1])
next_a = np.inf
for key in self.mpcs:
self.mpcs[key].set_cur_state(self.v_desired, self.a_desired)
self.mpcs[key].update(sm['carState'], sm['radarState'], v_cruise, a_mpc[key], active_mpc[key])
# picks slowest solution from accel in ~0.2 seconds
if self.mpcs[key].status and active_mpc[key] and self.mpcs[key].a_solution[5] < next_a:
self.longitudinalPlanSource = c_source if key == 'custom' else key
self.v_desired_trajectory = self.mpcs[key].v_solution[:CONTROL_N]
self.a_desired_trajectory = self.mpcs[key].a_solution[:CONTROL_N]
self.j_desired_trajectory = self.mpcs[key].j_solution[:CONTROL_N]
next_a = self.mpcs[key].a_solution[5]
# debug logging
do_log = self.debug_logging and (t - self.last_debug_log_t > self.debug_log_time_step)
if do_log:
self.last_debug_log_t = t
f = open(self.debug_log_path,"a")
f.write(",".join([f"{i:.1f}" if i == float else str(i) for i in [
t - self.sessionInitTime,
v_ego,
v_ego * CV.MS_TO_MPH,
accel_limits[0],
accel_limits[1],
next_a,
self.longitudinalPlanSource]]) + "\n")
f.close()
# determine fcw
if self.mpcs['lead0'].new_lead:
self.fcw_checker.reset_lead(cur_time)
blinkers = sm['carState'].leftBlinker or sm['carState'].rightBlinker
self.fcw = self.fcw_checker.update(self.mpcs['lead0'].mpc_solution, cur_time,
sm['controlsState'].active,
v_ego, sm['carState'].aEgo,
self.lead_1.dRel, self.lead_1.vLead, self.lead_1.aLeadK,
self.lead_1.yRel, self.lead_1.vLat,
self.lead_1.fcw, blinkers) and not sm['carState'].brakePressed
if self.fcw:
cloudlog.info("FCW triggered %s", self.fcw_checker.counters)
# Interpolate 0.05 seconds and save as starting point for next iteration
a_prev = self.a_desired
self.a_desired = float(interp(CP.radarTimeStep, T_IDXS[:CONTROL_N], self.a_desired_trajectory))
self.v_desired = self.v_desired + CP.radarTimeStep * (self.a_desired + a_prev)/2.0
def publish(self, sm, pm):
plan_send = messaging.new_message('longitudinalPlan')
plan_send.valid = sm.all_alive_and_valid(service_list=['carState', 'controlsState'])
longitudinalPlan = plan_send.longitudinalPlan
longitudinalPlan.modelMonoTime = sm.logMonoTime['modelV2']
longitudinalPlan.processingDelay = (plan_send.logMonoTime / 1e9) - sm.logMonoTime['modelV2']
longitudinalPlan.speeds = [float(x) for x in self.v_desired_trajectory]
longitudinalPlan.accels = [float(x) for x in self.a_desired_trajectory]
longitudinalPlan.jerks = [float(x) for x in self.j_desired_trajectory]
longitudinalPlan.hasLead = self.mpcs['lead0'].status
longitudinalPlan.leadDist = self.coasting_lead_d
longitudinalPlan.leadV = self.coasting_lead_v
longitudinalPlan.desiredFollowDistance = self.mpcs['lead0'].tr
longitudinalPlan.leadDistCost = self.mpcs['lead0'].dist_cost
longitudinalPlan.leadAccelCost = self.mpcs['lead0'].accel_cost
longitudinalPlan.stoppingDistance = self.mpcs['lead0'].stopping_distance
longitudinalPlan.longitudinalPlanSource = self.longitudinalPlanSource
longitudinalPlan.fcw = self.fcw
longitudinalPlan.visionTurnControllerState = self.vision_turn_controller.state
longitudinalPlan.visionTurnSpeed = float(self.vision_turn_controller.v_turn)
longitudinalPlan.speedLimitControlState = self.speed_limit_controller.state
longitudinalPlan.speedLimit = float(self.speed_limit_controller.speed_limit)
longitudinalPlan.speedLimitOffset = float(self.speed_limit_controller.speed_limit_offset)
longitudinalPlan.distToSpeedLimit = float(self.speed_limit_controller.distance)
longitudinalPlan.isMapSpeedLimit = bool(self.speed_limit_controller.source == SpeedLimitResolver.Source.map_data)
longitudinalPlan.eventsDEPRECATED = self.events.to_msg()
longitudinalPlan.turnSpeedControlState = self.turn_speed_controller.state
longitudinalPlan.turnSpeed = float(self.turn_speed_controller.speed_limit)
longitudinalPlan.distToTurn = float(self.turn_speed_controller.distance)
longitudinalPlan.turnSign = int(self.turn_speed_controller.turn_sign)
pm.send('longitudinalPlan', plan_send)
def mpc_solutions(self, enabled, v_ego, a_ego, v_cruise, sm):
# Update controllers
self.vision_turn_controller.update(enabled, v_ego, a_ego, v_cruise, sm)
self.events = Events()
self.speed_limit_controller.update(enabled, v_ego, a_ego, sm, v_cruise, self.events)
self.turn_speed_controller.update(enabled, v_ego, a_ego, sm)
# Pick solution with lowest acceleration target.
a_solutions = {None: float("inf")}
if self.vision_turn_controller.is_active:
a_solutions['turn'] = self.vision_turn_controller.a_target
if self.speed_limit_controller.is_active:
a_solutions['limit'] = self.speed_limit_controller.a_target
if self.turn_speed_controller.is_active:
a_solutions['turnlimit'] = self.turn_speed_controller.a_target
source = min(a_solutions, key=a_solutions.get)
a_sol = {
'cruise': a_ego, # Irrelevant
'lead0': a_ego, # Irrelevant
'lead1': a_ego, # Irrelevant
'custom': 0. if source is None else a_solutions[source],
}
active_sol = {
'cruise': True, # Irrelevant
'lead0': True, # Irrelevant
'lead1': True, # Irrelevant
'custom': source is not None,
}
return a_sol, active_sol, source
class Controls:
def __init__(self, sm=None, pm=None, can_sock=None):
config_realtime_process(3, Priority.CTRL_HIGH)
self.op_params = opParams()
# 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.sm_smiskol = messaging.SubMaster([
'radarState', 'dynamicFollowData', 'liveTracks',
'dynamicFollowButton', 'laneSpeed', 'dynamicCameraOffset',
'modelLongButton'
])
self.op_params = opParams()
self.df_manager = dfManager()
self.support_white_panda = self.op_params.get('support_white_panda')
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 pandaState and one CAN packet
panda_type = messaging.recv_one(
self.sm.sock['pandaState']).pandaState.pandaType
has_relay = panda_type in [
PandaType.blackPanda, PandaType.uno, PandaType.dos
]
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'],
has_relay)
threading.Thread(target=log_fingerprint, args=[candidate]).start()
# read params
params = Params()
self.is_metric = params.get("IsMetric", encoding='utf8') == "1"
self.is_ldw_enabled = params.get("IsLdwEnabled",
encoding='utf8') == "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 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, candidate)
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.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.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)
# 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.lead_rel_speed = 255
self.lead_long_dist = 255
def update_events(self, CS):
"""Compute carEvents from carState"""
self.events.clear()
self.events.add_from_msg(CS.events)
self.events.add_from_msg(self.sm['driverMonitoringState'].events)
# Handle startup event
if self.startup_event is not None:
self.events.add(self.startup_event)
self.startup_event = None
# Create events for battery, temperature, disk space, and memory
if self.sm['deviceState'].batteryPercent < 1 and self.sm[
'deviceState'].chargingError:
# at zero percent battery, while discharging, OP should not allowed
self.events.add(EventName.lowBattery)
if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
self.events.add(EventName.overheat)
if self.sm['deviceState'].freeSpacePercent < 7:
# under 7% of space free no enable allowed
self.events.add(EventName.outOfSpace)
if self.sm['deviceState'].memoryUsagePercent > 90:
self.events.add(EventName.lowMemory)
# Alert if fan isn't spinning for 5 seconds
if self.sm['pandaState'].pandaType in [PandaType.uno, PandaType.dos]:
if self.sm['pandaState'].fanSpeedRpm == 0 and self.sm[
'deviceState'].fanSpeedPercentDesired > 50:
if (self.sm.frame -
self.last_functional_fan_frame) * DT_CTRL > 5.0:
self.events.add(EventName.fanMalfunction)
else:
self.last_functional_fan_frame = self.sm.frame
# Handle calibration status
cal_status = self.sm['liveCalibration'].calStatus
if cal_status != Calibration.CALIBRATED:
if cal_status == Calibration.UNCALIBRATED:
self.events.add(EventName.calibrationIncomplete)
else:
self.events.add(EventName.calibrationInvalid)
# Handle lane change
if self.sm[
'lateralPlan'].laneChangeState == LaneChangeState.preLaneChange:
direction = self.sm['lateralPlan'].laneChangeDirection
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
(CS.rightBlindspot and direction == LaneChangeDirection.right):
self.events.add(EventName.laneChangeBlocked)
else:
if direction == LaneChangeDirection.left:
self.events.add(EventName.preLaneChangeLeft)
else:
self.events.add(EventName.preLaneChangeRight)
elif self.sm['lateralPlan'].laneChangeState in [
LaneChangeState.laneChangeStarting,
LaneChangeState.laneChangeFinishing
]:
self.events.add(EventName.laneChange)
if self.can_rcv_error or (not CS.canValid
and self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.canError)
if (self.sm['pandaState'].safetyModel != self.CP.safetyModel and self.sm.frame > 2 / DT_CTRL) or \
self.mismatch_counter >= 200:
self.events.add(EventName.controlsMismatch)
if len(self.sm['radarState'].radarErrors):
self.events.add(EventName.radarFault)
elif not self.sm.valid['liveParameters']:
self.events.add(EventName.vehicleModelInvalid)
elif not self.sm.all_alive_and_valid():
self.events.add(EventName.commIssue)
if not self.logged_comm_issue:
cloudlog.error(
f"commIssue - valid: {self.sm.valid} - alive: {self.sm.alive}"
)
self.logged_comm_issue = True
else:
self.logged_comm_issue = False
if not self.sm['lateralPlan'].mpcSolutionValid:
self.events.add(EventName.plannerError)
if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
if self.sm.frame > 5 / DT_CTRL: # Give locationd some time to receive all the inputs
self.events.add(EventName.sensorDataInvalid)
if not self.sm['liveLocationKalman'].posenetOK:
self.events.add(EventName.posenetInvalid)
if not self.sm['liveLocationKalman'].deviceStable:
self.events.add(EventName.deviceFalling)
if log.PandaState.FaultType.relayMalfunction in self.sm[
'pandaState'].faults:
self.events.add(EventName.relayMalfunction)
if self.sm['longitudinalPlan'].fcw:
self.events.add(EventName.fcw)
# TODO: fix simulator
# if not SIMULATION:
# if not NOSENSOR and not self.support_white_panda:
# if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000) and not TICI:
# # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
# self.events.add(EventName.noGps)
if not self.sm.all_alive(['roadCameraState', 'driverCameraState'
]) and (self.sm.frame > 5 / DT_CTRL):
self.events.add(EventName.cameraMalfunction)
if self.sm['modelV2'].frameDropPerc > 20:
self.events.add(EventName.modeldLagging)
# Check if all manager processes are running
not_running = set(p.name for p in self.sm['managerState'].processes
if not p.running)
if self.sm.rcv_frame['managerState'] and (not_running -
IGNORE_PROCESSES):
self.events.add(EventName.processNotRunning)
# Only allow engagement with brake pressed when stopped behind another stopped car
if CS.brakePressed and self.sm['longitudinalPlan'].vTargetFuture >= STARTING_TARGET_SPEED \
and self.CP.openpilotLongitudinalControl and CS.vEgo < 0.3 and not self.last_model_long:
self.events.add(EventName.noTarget)
self.add_stock_additions_alerts(CS)
# vision-only fcw, can be disabled if radar is present
if self.sm.updated['radarState']:
self.lead_rel_speed = self.sm['radarState'].leadOne.vRel
self.lead_long_dist = self.sm['radarState'].leadOne.dRel
#if CS.cruiseState.enabled and self.lead_long_dist > 5 and self.lead_long_dist < 100 and self.lead_rel_speed <= -0.5 and CS.vEgo >= 5 and \
# ((self.lead_long_dist/abs(self.lead_rel_speed) < 2.) or (self.lead_long_dist/abs(self.lead_rel_speed) < 4. and self.lead_rel_speed < -10) or \
# (self.lead_long_dist/abs(self.lead_rel_speed) < 5. and self.lead_long_dist/CS.vEgo < 1.5)):
# self.events.add(EventName.fcw)
def add_stock_additions_alerts(self, CS):
self.AM.SA_set_frame(self.sm.frame)
self.AM.SA_set_enabled(self.enabled)
# alert priority is defined by code location, keeping is highest, then lane speed alert, then auto-df alert
if self.sm_smiskol['modelLongButton'].enabled != self.last_model_long:
extra_text_1 = 'disabled!' if self.last_model_long else 'enabled!'
extra_text_2 = '' if self.last_model_long else ', model may behave unexpectedly'
self.AM.SA_add('modelLongAlert',
extra_text_1=extra_text_1,
extra_text_2=extra_text_2)
return
if self.sm_smiskol['dynamicCameraOffset'].keepingLeft:
self.AM.SA_add('laneSpeedKeeping',
extra_text_1='LEFT',
extra_text_2='Oncoming traffic in right lane')
return
elif self.sm_smiskol['dynamicCameraOffset'].keepingRight:
self.AM.SA_add('laneSpeedKeeping',
extra_text_1='RIGHT',
extra_text_2='Oncoming traffic in left lane')
return
ls_state = self.sm_smiskol['laneSpeed'].state
if ls_state != '':
self.AM.SA_add('lsButtonAlert', extra_text_1=ls_state)
return
faster_lane = self.sm_smiskol['laneSpeed'].fastestLane
if faster_lane in ['left', 'right']:
ls_alert = 'laneSpeedAlert'
if not self.sm_smiskol['laneSpeed'].new:
ls_alert += 'Silent'
self.AM.SA_add(
ls_alert,
extra_text_1='{} lane faster'.format(faster_lane).upper(),
extra_text_2='Change lanes to faster {} lane'.format(
faster_lane))
return
df_out = self.df_manager.update()
if df_out.changed:
df_alert = 'dfButtonAlert'
if df_out.is_auto and df_out.last_is_auto:
# only show auto alert if engaged, not hiding auto, and time since lane speed alert not showing
if CS.cruiseState.enabled and not self.op_params.get(
'hide_auto_df_alerts'):
df_alert += 'Silent'
self.AM.SA_add(df_alert,
extra_text_1=df_out.model_profile_text +
' (auto)')
return
else:
self.AM.SA_add(
df_alert,
extra_text_1=df_out.user_profile_text,
extra_text_2='Dynamic follow: {} profile active'.format(
df_out.user_profile_text))
return
def data_sample(self):
"""Receive data from sockets and update carState"""
# Update carState from CAN
can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
CS = self.CI.update(self.CC, can_strs)
self.sm.update(0)
self.sm_smiskol.update(0)
# Check for CAN timeout
if not can_strs:
self.can_error_counter += 1
self.can_rcv_error = True
else:
self.can_rcv_error = False
# When the panda and controlsd do not agree on controls_allowed
# we want to disengage openpilot. However the status from the panda goes through
# another socket other than the CAN messages and one can arrive earlier than the other.
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
if not self.enabled:
self.mismatch_counter = 0
if not self.sm['pandaState'].controlsAllowed and self.enabled:
self.mismatch_counter += 1
self.distance_traveled += CS.vEgo * DT_CTRL
return CS
def state_transition(self, CS):
"""Compute conditional state transitions and execute actions on state transitions"""
self.v_cruise_kph_last = self.v_cruise_kph
# if stock cruise is completely disabled, then we can use our own set speed logic
if not self.CP.enableCruise:
self.v_cruise_kph = update_v_cruise(self.v_cruise_kph,
CS.buttonEvents, self.enabled)
elif self.CP.enableCruise and CS.cruiseState.enabled:
self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
# decrease the soft disable timer at every step, as it's reset on
# entrance in SOFT_DISABLING state
self.soft_disable_timer = max(0, self.soft_disable_timer - 1)
self.current_alert_types = [ET.PERMANENT]
# ENABLED, PRE ENABLING, SOFT DISABLING
if self.state != State.disabled:
# user and immediate disable always have priority in a non-disabled state
if self.events.any(ET.USER_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.USER_DISABLE)
elif self.events.any(ET.IMMEDIATE_DISABLE):
self.state = State.disabled
self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
else:
# ENABLED
if self.state == State.enabled:
if self.events.any(ET.SOFT_DISABLE):
self.state = State.softDisabling
self.soft_disable_timer = 300 # 3s
self.current_alert_types.append(ET.SOFT_DISABLE)
# SOFT DISABLING
elif self.state == State.softDisabling:
if not self.events.any(ET.SOFT_DISABLE):
# no more soft disabling condition, so go back to ENABLED
self.state = State.enabled
elif self.events.any(
ET.SOFT_DISABLE) and self.soft_disable_timer > 0:
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.soft_disable_timer <= 0:
self.state = State.disabled
# PRE ENABLING
elif self.state == State.preEnabled:
if not self.events.any(ET.PRE_ENABLE):
self.state = State.enabled
else:
self.current_alert_types.append(ET.PRE_ENABLE)
# DISABLED
elif self.state == State.disabled:
if self.events.any(ET.ENABLE):
if self.events.any(ET.NO_ENTRY):
self.current_alert_types.append(ET.NO_ENTRY)
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
else:
self.state = State.enabled
self.current_alert_types.append(ET.ENABLE)
self.v_cruise_kph = initialize_v_cruise(
CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
# Check if actuators are enabled
self.active = self.state == State.enabled or self.state == State.softDisabling
if self.active:
self.current_alert_types.append(ET.WARNING)
# Check if openpilot is engaged
self.enabled = self.active or self.state == State.preEnabled
def state_control(self, CS):
"""Given the state, this function returns an actuators packet"""
lat_plan = self.sm['lateralPlan']
long_plan = self.sm['longitudinalPlan']
actuators = car.CarControl.Actuators.new_message()
if CS.leftBlinker or CS.rightBlinker:
self.last_blinker_frame = self.sm.frame
# State specific actions
if not self.active:
self.LaC.reset()
self.LoC.reset(v_pid=CS.vEgo)
long_plan_age = DT_CTRL * (self.sm.frame -
self.sm.rcv_frame['longitudinalPlan'])
# no greater than dt mpc + dt, to prevent too high extraps
dt = min(long_plan_age, LON_MPC_STEP + DT_CTRL) + DT_CTRL
a_acc_sol = long_plan.aStart + (dt / LON_MPC_STEP) * (
long_plan.aTarget - long_plan.aStart)
v_acc_sol = long_plan.vStart + dt * (a_acc_sol +
long_plan.aStart) / 2.0
extras_loc = {
'lead_one': self.sm_smiskol['radarState'].leadOne,
'mpc_TR': self.sm_smiskol['dynamicFollowData'].mpcTR,
'live_tracks': self.sm_smiskol['liveTracks'],
'has_lead': long_plan.hasLead
}
# Gas/Brake PID loop
actuators.gas, actuators.brake = self.LoC.update(
self.active, CS, v_acc_sol, long_plan.vTargetFuture, a_acc_sol,
self.CP, extras_loc)
# Steering PID loop and lateral MPC
actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(
self.active, CS, self.CP, lat_plan)
# Check for difference between desired angle and angle for angle based control
angle_control_saturated = self.CP.steerControlType == car.CarParams.SteerControlType.angle and \
abs(actuators.steeringAngleDeg - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
if angle_control_saturated and not CS.steeringPressed and self.active:
self.saturated_count += 1
else:
self.saturated_count = 0
# Send a "steering required alert" if saturation count has reached the limit
if (lac_log.saturated and not CS.steeringPressed) or \
(self.saturated_count > STEER_ANGLE_SATURATION_TIMEOUT):
# Check if we deviated from the path
left_deviation = actuators.steer > 0 and lat_plan.dPathPoints[
0] < -0.1
right_deviation = actuators.steer < 0 and lat_plan.dPathPoints[
0] > 0.1
if left_deviation or right_deviation:
self.events.add(EventName.steerSaturated)
return actuators, v_acc_sol, a_acc_sol, lac_log
def publish_logs(self, CS, start_time, actuators, v_acc, a_acc, lac_log):
"""Send actuators and hud commands to the car, send controlsstate and MPC logging"""
CC = car.CarControl.new_message()
CC.enabled = self.enabled
CC.actuators = actuators
CC.cruiseControl.override = True
CC.cruiseControl.cancel = not self.CP.enableCruise or (
not self.enabled and CS.cruiseState.enabled)
# Some override values for Honda
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(actuators.brake * 3., 0.0, 1.0))
speed_override = max(0.0,
(self.LoC.v_pid + CS.cruiseState.speedOffset) *
brake_discount)
CC.cruiseControl.speedOverride = float(
speed_override if self.CP.enableCruise else 0.0)
CC.cruiseControl.accelOverride = self.CI.calc_accel_override(
CS.aEgo, self.sm['longitudinalPlan'].aTarget, CS.vEgo,
self.sm['longitudinalPlan'].vTarget)
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
CC.hudControl.rightLaneVisible = bool(right_lane_visible)
CC.hudControl.leftLaneVisible = bool(left_lane_visible)
recent_blinker = (self.sm.frame - self.last_blinker_frame
) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and (not self.active or CS.epsDisabled == True) and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['modelV2'].meta
if len(meta.desirePrediction) and ldw_allowed:
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft -
1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight -
1]
CAMERA_OFFSET = self.sm['lateralPlan'].cameraOffset
ldw_average_car_width = 1.750483672001016 # from sedans, suvs, and minivans (todo: find from all openpilot Toyotas instead)
ldw_m_from_wheel = 0.15
ldw_threshold = ldw_average_car_width / 2 + ldw_m_from_wheel
l_lane_close = left_lane_visible and (
self.sm['modelV2'].laneLines[1].y[0] >
-(ldw_threshold + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (
self.sm['modelV2'].laneLines[2].y[0] <
(ldw_threshold - CAMERA_OFFSET))
CC.hudControl.leftLaneDepart = bool(
l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(
r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types,
[self.CP, self.sm, self.is_metric])
self.AM.add_many(self.sm.frame, alerts, self.enabled)
self.last_model_long = self.sm_smiskol['modelLongButton'].enabled
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
if not self.read_only:
# send car controls over can
can_sends = self.CI.apply(CC)
self.pm.send(
'sendcan',
can_list_to_can_capnp(can_sends,
msgtype='sendcan',
valid=CS.canValid))
force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
(self.state == State.softDisabling)
steer_angle_rad = (
CS.steeringAngleDeg -
self.sm['lateralPlan'].angleOffsetDeg) * CV.DEG_TO_RAD
# controlsState
dat = messaging.new_message('controlsState')
dat.valid = CS.canValid
controlsState = dat.controlsState
controlsState.alertText1 = self.AM.alert_text_1
controlsState.alertText2 = self.AM.alert_text_2
controlsState.alertSize = self.AM.alert_size
controlsState.alertStatus = self.AM.alert_status
controlsState.alertBlinkingRate = self.AM.alert_rate
controlsState.alertType = self.AM.alert_type
controlsState.alertSound = self.AM.audible_alert
controlsState.canMonoTimes = list(CS.canMonoTimes)
controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime[
'longitudinalPlan']
controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
controlsState.enabled = self.enabled
controlsState.active = self.active
controlsState.curvature = self.VM.calc_curvature(
steer_angle_rad, CS.vEgo)
controlsState.state = self.state
controlsState.engageable = not self.events.any(ET.NO_ENTRY)
controlsState.longControlState = self.LoC.long_control_state
controlsState.vPid = float(self.LoC.v_pid)
controlsState.vCruise = float(self.v_cruise_kph)
controlsState.upAccelCmd = float(self.LoC.pid.p)
controlsState.uiAccelCmd = float(self.LoC.pid.id)
controlsState.ufAccelCmd = float(self.LoC.pid.f)
controlsState.steeringAngleDesiredDeg = float(
self.LaC.angle_steers_des)
controlsState.vTargetLead = float(v_acc)
controlsState.aTarget = float(a_acc)
controlsState.cumLagMs = -self.rk.remaining * 1000.
controlsState.startMonoTime = int(start_time * 1e9)
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_error_counter
if self.CP.lateralTuning.which() == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState
car_events = self.events.to_msg()
cs_send = messaging.new_message('carState')
cs_send.valid = CS.canValid
cs_send.carState = CS
cs_send.carState.events = car_events
self.pm.send('carState', cs_send)
# carEvents - logged every second or on change
if (self.sm.frame % int(1. / DT_CTRL)
== 0) or (self.events.names != self.events_prev):
ce_send = messaging.new_message('carEvents', len(self.events))
ce_send.carEvents = car_events
self.pm.send('carEvents', ce_send)
self.events_prev = self.events.names.copy()
# carParams - logged every 50 seconds (> 1 per segment)
if (self.sm.frame % int(50. / DT_CTRL) == 0):
cp_send = messaging.new_message('carParams')
cp_send.carParams = self.CP
self.pm.send('carParams', cp_send)
# carControl
cc_send = messaging.new_message('carControl')
cc_send.valid = CS.canValid
cc_send.carControl = CC
self.pm.send('carControl', cc_send)
# copy CarControl to pass to CarInterface on the next iteration
self.CC = CC
def step(self):
start_time = sec_since_boot()
self.prof.checkpoint("Ratekeeper", ignore=True)
# Sample data from sockets and get a carState
CS = self.data_sample()
self.prof.checkpoint("Sample")
self.update_events(CS)
if not self.read_only:
# Update control state
self.state_transition(CS)
self.prof.checkpoint("State transition")
# Compute actuators (runs PID loops and lateral MPC)
actuators, v_acc, a_acc, lac_log = self.state_control(CS)
self.prof.checkpoint("State Control")
# Publish data
self.publish_logs(CS, start_time, actuators, v_acc, a_acc, lac_log)
self.prof.checkpoint("Sent")
def controlsd_thread(self):
while True:
self.step()
self.rk.monitor_time()
self.prof.display()
