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openpilot v0.6.3 release

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old-commit-hash: d5f9caa82d
This commit is contained in:
Vehicle Researcher
2019-08-13 01:36:45 +00:00
parent eb89041a6a
commit 02cedeadd9
95 changed files with 1754 additions and 625 deletions
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selfdrive/car/chrysler/carcontroller.py
+2 -17
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@@ -1,14 +1,9 @@
from cereal import car
from selfdrive.car import apply_toyota_steer_torque_limits
from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, \
create_wheel_buttons, \
create_chimes
create_wheel_buttons
from selfdrive.car.chrysler.values import ECU, CAR
from selfdrive.can.packer import CANPacker
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
LOUD_ALERTS = [AudibleAlert.chimeWarning1, AudibleAlert.chimeWarning2, AudibleAlert.chimeWarningRepeat]
class SteerLimitParams:
STEER_MAX = 261 # 262 faults
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
@@ -27,7 +22,6 @@ class CarController(object):
self.hud_count = 0
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.send_chime = False
self.gone_fast_yet = False
self.fake_ecus = set()
@@ -37,7 +31,7 @@ class CarController(object):
self.packer = CANPacker(dbc_name)
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert, audible_alert):
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert):
# this seems needed to avoid steering faults and to force the sync with the EPS counter
frame = CS.lkas_counter
if self.prev_frame == frame:
@@ -62,19 +56,10 @@ class CarController(object):
self.apply_steer_last = apply_steer
if audible_alert in LOUD_ALERTS:
self.send_chime = True
can_sends = []
#*** control msgs ***
if self.send_chime:
new_msg = create_chimes(AudibleAlert)
can_sends.append(new_msg)
if audible_alert not in LOUD_ALERTS:
self.send_chime = False
if pcm_cancel_cmd:
# TODO: would be better to start from frame_2b3
new_msg = create_wheel_buttons(self.ccframe)
selfdrive/car/chrysler/chryslercan.py
-10
View File
@@ -2,7 +2,6 @@ from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
def calc_checksum(data):
"""This function does not want the checksum byte in the input data.
@@ -94,15 +93,6 @@ def create_lkas_command(packer, apply_steer, moving_fast, frame):
return packer.make_can_msg("LKAS_COMMAND", 0, values)
def create_chimes(audible_alert):
# '0050' nothing, chime '4f55'
if audible_alert == AudibleAlert.none:
msg = '0050'.decode('hex')
else:
msg = '4f55'.decode('hex')
return make_can_msg(0x339, msg)
def create_wheel_buttons(frame):
# WHEEL_BUTTONS (571) Message sent to cancel ACC.
start = [0x01] # acc cancel set
selfdrive/car/chrysler/chryslercan_test.py
-1
View File
@@ -3,7 +3,6 @@ from selfdrive.can.packer import CANPacker
from cereal import car
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
import unittest
selfdrive/car/chrysler/interface.py
+1 -2
View File
@@ -238,7 +238,6 @@ class CarInterface(object):
self.frame = self.CS.frame
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.audibleAlert)
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert)
return can_sends
selfdrive/car/chrysler/values.py
+1 -1
View File
@@ -24,7 +24,7 @@ FINGERPRINTS = {
{168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8},
],
CAR.PACIFICA_2018: [
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
{55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8},
],
CAR.PACIFICA_2018_HYBRID: [
{68: 8, 168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 528: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 660: 8, 669: 3, 671: 8, 672: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8},
selfdrive/car/gm/carcontroller.py
+1 -19
View File
@@ -72,7 +72,6 @@ class CarController(object):
def __init__(self, canbus, car_fingerprint):
self.pedal_steady = 0.
self.start_time = 0.
self.chime = 0
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
@@ -87,7 +86,7 @@ class CarController(object):
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def update(self, enabled, CS, frame, actuators, \
hud_v_cruise, hud_show_lanes, hud_show_car, chime, chime_cnt, hud_alert):
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
P = self.params
@@ -183,21 +182,4 @@ class CarController(object):
can_sends.append(gmcan.create_lka_icon_command(canbus.sw_gmlan, lka_active, lka_critical, steer))
self.lka_icon_status_last = lka_icon_status
# Send chimes
if self.chime != chime:
duration = 0x3c
# There is no 'repeat forever' chime command
# TODO: Manage periodic re-issuing of chime command
# and chime cancellation
if chime_cnt == -1:
chime_cnt = 10
if chime != 0:
can_sends.append(gmcan.create_chime_command(canbus.sw_gmlan, chime, duration, chime_cnt))
# If canceling a repeated chime, cancel command must be
# issued for the same chime type and duration
self.chime = chime
return can_sends
selfdrive/car/gm/gmcan.py
-4
View File
@@ -130,10 +130,6 @@ def create_adas_accelerometer_speed_status(bus, speed_ms, idx):
def create_adas_headlights_status(bus):
return [0x310, 0, "\x42\x04", bus]
def create_chime_command(bus, chime_type, duration, repeat_cnt):
dat = [chime_type, duration, repeat_cnt, 0xff, 0]
return [0x10400060, 0, "".join(map(chr, dat)), bus]
def create_lka_icon_command(bus, active, critical, steer):
if active and steer == 1:
if critical:
selfdrive/car/gm/interface.py
+2 -5
View File
@@ -4,7 +4,7 @@ from common.realtime import sec_since_boot
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, AUDIO_HUD, \
from selfdrive.car.gm.values import DBC, CAR, STOCK_CONTROL_MSGS, \
SUPERCRUISE_CARS, AccState
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness
@@ -325,8 +325,6 @@ class CarInterface(object):
if hud_v_cruise > 70:
hud_v_cruise = 0
chime, chime_count = AUDIO_HUD[c.hudControl.audibleAlert.raw]
# For Openpilot, "enabled" includes pre-enable.
# In GM, PCM faults out if ACC command overlaps user gas.
enabled = c.enabled and not self.CS.user_gas_pressed
@@ -334,8 +332,7 @@ class CarInterface(object):
can_sends = self.CC.update(enabled, self.CS, self.frame, \
c.actuators,
hud_v_cruise, c.hudControl.lanesVisible, \
c.hudControl.leadVisible, \
chime, chime_count, c.hudControl.visualAlert)
c.hudControl.leadVisible, c.hudControl.visualAlert)
self.frame += 1
return can_sends
selfdrive/car/gm/values.py
-21
View File
@@ -1,8 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
class CAR:
HOLDEN_ASTRA = "HOLDEN ASTRA RS-V BK 2017"
VOLT = "CHEVROLET VOLT PREMIER 2017"
@@ -21,31 +19,12 @@ class CruiseButtons:
MAIN = 5
CANCEL = 6
# Car chimes, beeps, blinker sounds etc
class CM:
TOCK = 0x81
TICK = 0x82
LOW_BEEP = 0x84
HIGH_BEEP = 0x85
LOW_CHIME = 0x86
HIGH_CHIME = 0x87
class AccState:
OFF = 0
ACTIVE = 1
FAULTED = 3
STANDSTILL = 4
AUDIO_HUD = {
AudibleAlert.none: (0, 0),
AudibleAlert.chimeEngage: (CM.HIGH_CHIME, 1),
AudibleAlert.chimeDisengage: (CM.HIGH_CHIME, 1),
AudibleAlert.chimeError: (CM.LOW_CHIME, 2),
AudibleAlert.chimePrompt: (CM.LOW_CHIME, 1),
AudibleAlert.chimeWarning1: (CM.LOW_CHIME, 2),
AudibleAlert.chimeWarning2: (CM.LOW_CHIME, -1),
AudibleAlert.chimeWarningRepeat: (CM.LOW_CHIME, -1)}
def is_eps_status_ok(eps_status, car_fingerprint):
valid_eps_status = []
if car_fingerprint in SUPERCRUISE_CARS:
selfdrive/car/honda/carcontroller.py
+4 -10
View File
@@ -70,7 +70,7 @@ def process_hud_alert(hud_alert):
HUDData = namedtuple("HUDData",
["pcm_accel", "v_cruise", "mini_car", "car", "X4",
"lanes", "beep", "chime", "fcw", "acc_alert", "steer_required"])
"lanes", "fcw", "acc_alert", "steer_required"])
class CarController(object):
@@ -85,8 +85,7 @@ class CarController(object):
def update(self, enabled, CS, frame, actuators, \
pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
hud_v_cruise, hud_show_lanes, hud_show_car, \
hud_alert, snd_beep, snd_chime):
hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert):
# *** apply brake hysteresis ***
brake, self.braking, self.brake_steady = actuator_hystereses(actuators.brake, self.braking, self.brake_steady, CS.v_ego, CS.CP.carFingerprint)
@@ -113,15 +112,10 @@ class CarController(object):
else:
hud_car = 0
# For lateral control-only, send chimes as a beep since we don't send 0x1fa
if CS.CP.radarOffCan:
snd_beep = snd_beep if snd_beep != 0 else snd_chime
#print("{0} {1} {2}".format(chime, alert_id, hud_alert))
fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), 1, hud_car,
0xc1, hud_lanes, int(snd_beep), snd_chime, fcw_display, acc_alert, steer_required)
0xc1, hud_lanes, fcw_display, acc_alert, steer_required)
# **** process the car messages ****
@@ -170,7 +164,7 @@ class CarController(object):
ts = frame * DT_CTRL
pump_on, self.last_pump_ts = brake_pump_hysteresis(apply_brake, self.apply_brake_last, self.last_pump_ts, ts)
can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
pcm_override, pcm_cancel_cmd, hud.chime, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
pcm_override, pcm_cancel_cmd, hud.fcw, idx, CS.CP.carFingerprint, CS.CP.isPandaBlack))
self.apply_brake_last = apply_brake
if CS.CP.enableGasInterceptor:
selfdrive/car/honda/carstate.py
+5
View File
@@ -38,6 +38,7 @@ def get_can_signals(CP):
("STEER_ANGLE", "STEERING_SENSORS", 0),
("STEER_ANGLE_RATE", "STEERING_SENSORS", 0),
("STEER_TORQUE_SENSOR", "STEER_STATUS", 0),
("STEER_TORQUE_MOTOR", "STEER_STATUS", 0),
("LEFT_BLINKER", "SCM_FEEDBACK", 0),
("RIGHT_BLINKER", "SCM_FEEDBACK", 0),
("GEAR", "GEARBOX", 0),
@@ -93,6 +94,7 @@ def get_can_signals(CP):
checks += [("BRAKE_MODULE", 50)]
signals += [("CAR_GAS", "GAS_PEDAL_2", 0),
("MAIN_ON", "SCM_FEEDBACK", 0),
("CRUISE_CONTROL_LABEL", "ACC_HUD", 0),
("EPB_STATE", "EPB_STATUS", 0),
("CRUISE_SPEED", "ACC_HUD", 0)]
checks += [("GAS_PEDAL_2", 100)]
@@ -187,6 +189,7 @@ class CarState(object):
self.left_blinker_on = 0
self.right_blinker_on = 0
self.cruise_mode = 0
self.stopped = 0
# vEgo kalman filter
@@ -298,11 +301,13 @@ class CarState(object):
self.car_gas = cp.vl["GAS_PEDAL_2"]['CAR_GAS']
self.steer_torque_driver = cp.vl["STEER_STATUS"]['STEER_TORQUE_SENSOR']
self.steer_torque_motor = cp.vl["STEER_STATUS"]['STEER_TORQUE_MOTOR']
self.steer_override = abs(self.steer_torque_driver) > STEER_THRESHOLD[self.CP.carFingerprint]
self.brake_switch = cp.vl["POWERTRAIN_DATA"]['BRAKE_SWITCH']
if self.CP.radarOffCan:
self.cruise_mode = cp.vl["ACC_HUD"]['CRUISE_CONTROL_LABEL']
self.stopped = cp.vl["ACC_HUD"]['CRUISE_SPEED'] == 252.
self.cruise_speed_offset = calc_cruise_offset(0, self.v_ego)
if self.CP.carFingerprint in (CAR.CIVIC_BOSCH, CAR.ACCORDH, CAR.CRV_HYBRID):
selfdrive/car/honda/hondacan.py
+7 -4
View File
@@ -27,7 +27,7 @@ def get_lkas_cmd_bus(car_fingerprint, is_panda_black):
return 2 if car_fingerprint in HONDA_BOSCH and not is_panda_black else 0
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, chime, fcw, idx, car_fingerprint, is_panda_black):
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, is_panda_black):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
brake_rq = apply_brake > 0
@@ -40,11 +40,14 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
"CRUISE_FAULT_CMD": pcm_fault_cmd,
"CRUISE_CANCEL_CMD": pcm_cancel_cmd,
"COMPUTER_BRAKE_REQUEST": brake_rq,
"SET_ME_0X80": 0x80,
"SET_ME_1": 1,
"BRAKE_LIGHTS": brakelights,
"CHIME": chime,
"CHIME": 0,
# TODO: Why are there two bits for fcw? According to dbc file the first bit should also work
"FCW": fcw << 1,
"AEB_REQ_1": 0,
"AEB_REQ_2": 0,
"AEB": 0,
}
bus = get_pt_bus(car_fingerprint, is_panda_black)
return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
@@ -83,7 +86,7 @@ def create_ui_commands(packer, pcm_speed, hud, car_fingerprint, is_metric, idx,
'SET_ME_X48': 0x48,
'STEERING_REQUIRED': hud.steer_required,
'SOLID_LANES': hud.lanes,
'BEEP': hud.beep,
'BEEP': 0,
}
commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
selfdrive/car/honda/interface.py
+6 -8
View File
@@ -9,7 +9,7 @@ from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.controls.lib.vehicle_model import VehicleModel
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, AUDIO_HUD, VISUAL_HUD, CAMERA_MSGS
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, VISUAL_HUD, CAMERA_MSGS
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
@@ -171,7 +171,7 @@ class CarInterface(object):
ret.steerRatio = 15.38 # 10.93 is end-to-end spec
tire_stiffness_factor = 1.
# Civic at comma has modified steering FW, so different tuning for the Neo in that car
is_fw_modified = os.getenv("DONGLE_ID") in ['99c94dc769b5d96e']
is_fw_modified = os.getenv("DONGLE_ID") in ['5b7c365c50084530']
if is_fw_modified:
ret.lateralTuning.pid.kf = 0.00004
@@ -405,12 +405,13 @@ class CarInterface(object):
ret.gearShifter = self.CS.gear_shifter
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringTorqueEps = self.CS.steer_torque_motor
ret.steeringPressed = self.CS.steer_override
# cruise state
ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
ret.cruiseState.available = bool(self.CS.main_on)
ret.cruiseState.available = bool(self.CS.main_on) and not bool(self.CS.cruise_mode)
ret.cruiseState.speedOffset = self.CS.cruise_speed_offset
ret.cruiseState.standstill = False
@@ -487,7 +488,7 @@ class CarInterface(object):
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if self.CS.esp_disabled:
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
if not self.CS.main_on:
if not self.CS.main_on or self.CS.cruise_mode:
events.append(create_event('wrongCarMode', [ET.NO_ENTRY, ET.USER_DISABLE]))
if ret.gearShifter == 'reverse':
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
@@ -564,7 +565,6 @@ class CarInterface(object):
hud_v_cruise = 255
hud_alert = VISUAL_HUD[c.hudControl.visualAlert.raw]
snd_beep, snd_chime = AUDIO_HUD[c.hudControl.audibleAlert.raw]
pcm_accel = int(clip(c.cruiseControl.accelOverride, 0, 1) * 0xc6)
@@ -577,9 +577,7 @@ class CarInterface(object):
hud_v_cruise,
c.hudControl.lanesVisible,
hud_show_car=c.hudControl.leadVisible,
hud_alert=hud_alert,
snd_beep=snd_beep,
snd_chime=snd_chime)
hud_alert=hud_alert)
self.frame += 1
return can_sends
selfdrive/car/honda/values.py
-26
View File
@@ -1,7 +1,6 @@
from cereal import car
from selfdrive.car import dbc_dict
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
VisualAlert = car.CarControl.HUDControl.VisualAlert
# Car button codes
@@ -11,31 +10,6 @@ class CruiseButtons:
CANCEL = 2
MAIN = 1
#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
class CM:
MUTE = 0
SINGLE = 3
DOUBLE = 4
REPEATED = 1
CONTINUOUS = 2
#car beeps: enumeration from dbc file. Beeps are for engage and disengage
class BP:
MUTE = 0
SINGLE = 3
TRIPLE = 2
REPEATED = 1
AUDIO_HUD = {
AudibleAlert.none: (BP.MUTE, CM.MUTE),
AudibleAlert.chimeEngage: (BP.SINGLE, CM.MUTE),
AudibleAlert.chimeDisengage: (BP.SINGLE, CM.MUTE),
AudibleAlert.chimeError: (BP.MUTE, CM.DOUBLE),
AudibleAlert.chimePrompt: (BP.MUTE, CM.SINGLE),
AudibleAlert.chimeWarning1: (BP.MUTE, CM.DOUBLE),
AudibleAlert.chimeWarning2: (BP.MUTE, CM.REPEATED),
AudibleAlert.chimeWarningRepeat: (BP.MUTE, CM.REPEATED)}
class AH:
#[alert_idx, value]
# See dbc files for info on values"
selfdrive/car/hyundai/interface.py
+1 -1
View File
@@ -278,7 +278,7 @@ class CarInterface(object):
def apply(self, c):
hud_alert = get_hud_alerts(c.hudControl.visualAlert, c.hudControl.audibleAlert)
hud_alert = get_hud_alerts(c.hudControl.visualAlert)
can_sends = self.CC.update(c.enabled, self.CS, c.actuators,
c.cruiseControl.cancel, hud_alert)
selfdrive/car/hyundai/values.py
+2 -3
View File
@@ -2,11 +2,10 @@ from cereal import car
from selfdrive.car import dbc_dict
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
def get_hud_alerts(visual_alert, audible_alert):
def get_hud_alerts(visual_alert):
if visual_alert == VisualAlert.steerRequired:
return 4 if audible_alert != AudibleAlert.none else 5
return 5
else:
return 0
selfdrive/car/toyota/carcontroller.py
+7 -16
View File
@@ -10,7 +10,6 @@ from selfdrive.car.toyota.values import ECU, STATIC_MSGS, TSS2_CAR
from selfdrive.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
AudibleAlert = car.CarControl.HUDControl.AudibleAlert
# Accel limits
ACCEL_HYST_GAP = 0.02 # don't change accel command for small oscilalitons within this value
@@ -53,25 +52,17 @@ def accel_hysteresis(accel, accel_steady, enabled):
return accel, accel_steady
def process_hud_alert(hud_alert, audible_alert):
def process_hud_alert(hud_alert):
# initialize to no alert
steer = 0
fcw = 0
sound1 = 0
sound2 = 0
if hud_alert == VisualAlert.fcw:
fcw = 1
elif hud_alert == VisualAlert.steerRequired:
steer = 1
if audible_alert == AudibleAlert.chimeWarningRepeat:
sound1 = 1
elif audible_alert != AudibleAlert.none:
# TODO: find a way to send single chimes
sound2 = 1
return steer, fcw, sound1, sound2
return steer, fcw
def ipas_state_transition(steer_angle_enabled, enabled, ipas_active, ipas_reset_counter):
@@ -124,8 +115,8 @@ class CarController(object):
self.packer = CANPacker(dbc_name)
def update(self, enabled, CS, frame, actuators,
pcm_cancel_cmd, hud_alert, audible_alert, forwarding_camera,
left_line, right_line, lead, left_lane_depart, right_lane_depart):
pcm_cancel_cmd, hud_alert, forwarding_camera, left_line,
right_line, lead, left_lane_depart, right_lane_depart):
# *** compute control surfaces ***
@@ -235,8 +226,8 @@ class CarController(object):
# ui mesg is at 100Hz but we send asap if:
# - there is something to display
# - there is something to stop displaying
alert_out = process_hud_alert(hud_alert, audible_alert)
steer, fcw, sound1, sound2 = alert_out
alert_out = process_hud_alert(hud_alert)
steer, fcw = alert_out
if (any(alert_out) and not self.alert_active) or \
(not any(alert_out) and self.alert_active):
@@ -246,7 +237,7 @@ class CarController(object):
send_ui = False
if (frame % 100 == 0 or send_ui) and ECU.CAM in self.fake_ecus:
can_sends.append(create_ui_command(self.packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart))
can_sends.append(create_ui_command(self.packer, steer, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and ECU.DSU in self.fake_ecus and self.car_fingerprint not in TSS2_CAR:
can_sends.append(create_fcw_command(self.packer, fcw))
selfdrive/car/toyota/interface.py
+28 -5
View File
@@ -55,7 +55,8 @@ class CarInterface(object):
ret.enableCruise = not ret.enableGasInterceptor
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
if candidate != CAR.PRIUS:
if candidate not in [CAR.PRIUS, CAR.RAV4, CAR.RAV4H]: # These cars use LQR/INDI
ret.lateralTuning.init('pid')
ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
@@ -73,6 +74,18 @@ class CarInterface(object):
ret.lateralTuning.indi.timeConstant = 1.0
ret.lateralTuning.indi.actuatorEffectiveness = 1.0
# TODO: Determine if this is better than INDI
# ret.lateralTuning.init('lqr')
# ret.lateralTuning.lqr.scale = 1500.0
# ret.lateralTuning.lqr.ki = 0.01
# ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
# ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
# ret.lateralTuning.lqr.c = [1., 0.]
# ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
# ret.lateralTuning.lqr.l = [0.03233671, 0.03185757]
# ret.lateralTuning.lqr.dcGain = 0.002237852961363602
ret.steerActuatorDelay = 0.5
elif candidate in [CAR.RAV4, CAR.RAV4H]:
@@ -82,8 +95,17 @@ class CarInterface(object):
ret.steerRatio = 16.88 # 14.5 is spec end-to-end
tire_stiffness_factor = 0.5533
ret.mass = 3650. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.05]]
ret.lateralTuning.pid.kf = 0.00006 # full torque for 10 deg at 80mph means 0.00007818594
ret.lateralTuning.init('lqr')
ret.lateralTuning.lqr.scale = 1500.0
ret.lateralTuning.lqr.ki = 0.05
ret.lateralTuning.lqr.a = [0., 1., -0.22619643, 1.21822268]
ret.lateralTuning.lqr.b = [-1.92006585e-04, 3.95603032e-05]
ret.lateralTuning.lqr.c = [1., 0.]
ret.lateralTuning.lqr.k = [-110.73572306, 451.22718255]
ret.lateralTuning.lqr.l = [0.3233671, 0.3185757]
ret.lateralTuning.lqr.dcGain = 0.002237852961363602
elif candidate == CAR.COROLLA:
stop_and_go = False
@@ -293,6 +315,7 @@ class CarInterface(object):
ret.steeringRate = self.CS.angle_steers_rate
ret.steeringTorque = self.CS.steer_torque_driver
ret.steeringTorqueEps = self.CS.steer_torque_motor
ret.steeringPressed = self.CS.steer_override
# cruise state
@@ -389,8 +412,8 @@ class CarInterface(object):
can_sends = self.CC.update(c.enabled, self.CS, self.frame,
c.actuators, c.cruiseControl.cancel, c.hudControl.visualAlert,
c.hudControl.audibleAlert, self.forwarding_camera,
c.hudControl.leftLaneVisible, c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
self.forwarding_camera, c.hudControl.leftLaneVisible,
c.hudControl.rightLaneVisible, c.hudControl.leadVisible,
c.hudControl.leftLaneDepart, c.hudControl.rightLaneDepart)
self.frame += 1
selfdrive/car/toyota/toyotacan.py
+3 -3
View File
@@ -105,7 +105,7 @@ def create_fcw_command(packer, fcw):
return packer.make_can_msg("ACC_HUD", 0, values)
def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left_lane_depart, right_lane_depart):
def create_ui_command(packer, steer, left_line, right_line, left_lane_depart, right_lane_depart):
values = {
"RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
"LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
@@ -116,8 +116,8 @@ def create_ui_command(packer, steer, sound1, sound2, left_line, right_line, left
"SET_ME_X02": 0x02,
"SET_ME_X01": 1,
"SET_ME_X01_2": 1,
"REPEATED_BEEPS": sound1,
"TWO_BEEPS": sound2,
"REPEATED_BEEPS": 0,
"TWO_BEEPS": 0,
"LDA_ALERT": steer,
}
return packer.make_can_msg("LKAS_HUD", 0, values)