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firestar5683
2025-10-18 15:05:02 -05:00
parent 6eda52b562
commit 4cca6553e4
38 changed files with 1118 additions and 1108 deletions
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cereal/car.capnp
+5 -5
View File
@@ -530,14 +530,14 @@ struct CarParams {
struct LateralTorqueTuning {
useSteeringAngle @0 :Bool;
kp @1 :Float32;
ki @2 :Float32;
kd @8 :Float32;
friction @3 :Float32;
kf @4 :Float32;
steeringAngleDeadzoneDeg @5 :Float32;
latAccelFactor @6 :Float32;
latAccelOffset @7 :Float32;
kpDEPRECATED @1 :Float32;
kiDEPRECATED @2 :Float32;
kfDEPRECATED @4 :Float32;
kdDEPRECATED @8 : Float32;
}
struct LongitudinalPIDTuning {
@@ -545,7 +545,7 @@ struct CarParams {
kpV @1 :List(Float32);
kiBP @2 :List(Float32);
kiV @3 :List(Float32);
kf @6 :Float32;
kfDEPRECATED @6 :Float32;
deadzoneBP @4 :List(Float32);
deadzoneV @5 :List(Float32);
}
cereal/custom.capnp
+29 -32
View File
@@ -106,10 +106,6 @@ struct FrogPilotCarParams @0xf35cc4560bbf6ec2 {
openpilotLongitudinalControlDisabled @4 :Bool;
safetyConfigs @5 :List(SafetyConfig);
lateralTuning :union {
pid @6 :Car.CarParams.LateralPIDTuning;
torque @7 :Car.CarParams.LateralTorqueTuning;
}
struct SafetyConfig {
safetyParam @0 :UInt16;
@@ -193,34 +189,35 @@ struct FrogPilotPlan @0xa1680744031fdb2d {
cscTraining @4 :Bool;
dangerJerk @5 :Float32;
desiredFollowDistance @6 :Int64;
experimentalMode @7 :Bool;
forcingStop @8 :Bool;
forcingStopLength @9 :Float32;
frogpilotEvents @10 :List(FrogPilotCarEvent);
increasedStoppedDistance @11 :Float32;
lateralCheck @12 :Bool;
laneWidthLeft @13 :Float32;
laneWidthRight @14 :Float32;
maxAcceleration @15 :Float32;
minAcceleration @16 :Float32;
redLight @17 :Bool;
roadCurvature @18 :Float32;
slcMapSpeedLimit @19 :Float32;
slcMapboxSpeedLimit @20 :Float32;
slcNextSpeedLimit @21 :Float32;
slcOverriddenSpeed @22 :Float32;
slcSpeedLimit @23 :Float32;
slcSpeedLimitOffset @24 :Float32;
slcSpeedLimitSource @25 :Text;
speedJerk @26 :Float32;
speedJerkStock @27 :Float32;
speedLimitChanged @28 :Bool;
tFollow @29 :Float32;
themeUpdated @30 :Bool;
togglesUpdated @31 :Bool;
trackingLead @32 :Bool;
unconfirmedSlcSpeedLimit @33 :Float32;
vCruise @34 :Float32;
disableThrottle @7 :Bool;
experimentalMode @8 :Bool;
forcingStop @9 :Bool;
forcingStopLength @10 :Float32;
frogpilotEvents @11 :List(FrogPilotCarEvent);
increasedStoppedDistance @12 :Float32;
lateralCheck @13 :Bool;
laneWidthLeft @14 :Float32;
laneWidthRight @15 :Float32;
maxAcceleration @16 :Float32;
minAcceleration @17 :Float32;
redLight @18 :Bool;
roadCurvature @19 :Float32;
slcMapSpeedLimit @20 :Float32;
slcMapboxSpeedLimit @21 :Float32;
slcNextSpeedLimit @22 :Float32;
slcOverriddenSpeed @23 :Float32;
slcSpeedLimit @24 :Float32;
slcSpeedLimitOffset @25 :Float32;
slcSpeedLimitSource @26 :Text;
speedJerk @27 :Float32;
speedJerkStock @28 :Float32;
speedLimitChanged @29 :Bool;
tFollow @30 :Float32;
themeUpdated @31 :Bool;
togglesUpdated @32 :Bool;
trackingLead @33 :Bool;
unconfirmedSlcSpeedLimit @34 :Float32;
vCruise @35 :Float32;
}
struct FrogPilotRadarState @0xcb9fd56c7057593a {
cereal/gen/cpp/car.capnp.c++
+53 -48
View File
@@ -5262,7 +5262,7 @@ const ::capnp::_::RawSchema s_9622723fcbd14c2e = {
0, 5, i_9622723fcbd14c2e, nullptr, nullptr, { &s_9622723fcbd14c2e, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
static const ::capnp::_::AlignedData<166> b_80366e0e804ecc1d = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
29, 204, 78, 128, 14, 110, 54, 128,
20, 0, 0, 0, 1, 0, 5, 0,
@@ -5289,62 +5289,62 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
0, 0, 0, 0, 0, 0, 0, 0,
240, 0, 0, 0, 3, 0, 1, 0,
252, 0, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
5, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
249, 0, 0, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
244, 0, 0, 0, 3, 0, 1, 0,
0, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
253, 0, 0, 0, 26, 0, 0, 0,
249, 0, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
248, 0, 0, 0, 3, 0, 1, 0,
4, 1, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
6, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
1, 1, 0, 0, 74, 0, 0, 0,
1, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 1, 0, 0, 3, 0, 1, 0,
12, 1, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 4, 0, 0, 0,
1, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
9, 1, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
8, 1, 0, 0, 3, 0, 1, 0,
20, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
9, 1, 0, 0, 26, 0, 0, 0,
17, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
4, 1, 0, 0, 3, 0, 1, 0,
16, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 5, 0, 0, 0,
16, 1, 0, 0, 3, 0, 1, 0,
28, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 1, 0, 0, 202, 0, 0, 0,
25, 1, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
20, 1, 0, 0, 3, 0, 1, 0,
32, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 6, 0, 0, 0,
32, 1, 0, 0, 3, 0, 1, 0,
44, 1, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
28, 1, 0, 0, 3, 0, 1, 0,
40, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
37, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
36, 1, 0, 0, 3, 0, 1, 0,
48, 1, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 1, 0, 0, 26, 0, 0, 0,
41, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 1, 0, 0, 3, 0, 1, 0,
52, 1, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
49, 1, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 1, 0, 0, 3, 0, 1, 0,
60, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
57, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
56, 1, 0, 0, 3, 0, 1, 0,
68, 1, 0, 0, 2, 0, 1, 0,
117, 115, 101, 83, 116, 101, 101, 114,
105, 110, 103, 65, 110, 103, 108, 101,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5355,7 +5355,8 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 112, 0, 0, 0, 0, 0, 0,
107, 112, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5363,7 +5364,8 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 105, 0, 0, 0, 0, 0, 0,
107, 105, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5380,7 +5382,8 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 102, 0, 0, 0, 0, 0, 0,
107, 102, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5417,7 +5420,8 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 100, 0, 0, 0, 0, 0, 0,
107, 100, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5431,11 +5435,11 @@ static const ::capnp::_::AlignedData<162> b_80366e0e804ecc1d = {
static const uint16_t m_80366e0e804ecc1d[] = {3, 8, 4, 2, 1, 6, 7, 5, 0};
static const uint16_t i_80366e0e804ecc1d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
const ::capnp::_::RawSchema s_80366e0e804ecc1d = {
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 162, nullptr, m_80366e0e804ecc1d,
0x80366e0e804ecc1d, b_80366e0e804ecc1d.words, 166, nullptr, m_80366e0e804ecc1d,
0, 9, i_80366e0e804ecc1d, nullptr, nullptr, { &s_80366e0e804ecc1d, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
static const ::capnp::_::AlignedData<152> b_c342cefc303e9b8e = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
142, 155, 62, 48, 252, 206, 66, 195,
20, 0, 0, 0, 1, 0, 1, 0,
@@ -5501,10 +5505,10 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
4, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
53, 1, 0, 0, 26, 0, 0, 0,
53, 1, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 1, 0, 0, 3, 0, 1, 0,
60, 1, 0, 0, 2, 0, 1, 0,
52, 1, 0, 0, 3, 0, 1, 0,
64, 1, 0, 0, 2, 0, 1, 0,
107, 112, 66, 80, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5579,7 +5583,8 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
14, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
107, 102, 0, 0, 0, 0, 0, 0,
107, 102, 68, 69, 80, 82, 69, 67,
65, 84, 69, 68, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -5593,7 +5598,7 @@ static const ::capnp::_::AlignedData<151> b_c342cefc303e9b8e = {
static const uint16_t m_c342cefc303e9b8e[] = {4, 5, 6, 2, 3, 0, 1};
static const uint16_t i_c342cefc303e9b8e[] = {0, 1, 2, 3, 4, 5, 6};
const ::capnp::_::RawSchema s_c342cefc303e9b8e = {
0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 151, nullptr, m_c342cefc303e9b8e,
0xc342cefc303e9b8e, b_c342cefc303e9b8e.words, 152, nullptr, m_c342cefc303e9b8e,
0, 7, i_c342cefc303e9b8e, nullptr, nullptr, { &s_c342cefc303e9b8e, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
cereal/gen/cpp/car.capnp.h
+30 -30
View File
@@ -3134,13 +3134,13 @@ public:
inline bool getUseSteeringAngle() const;
inline float getKp() const;
inline float getKpDEPRECATED() const;
inline float getKi() const;
inline float getKiDEPRECATED() const;
inline float getFriction() const;
inline float getKf() const;
inline float getKfDEPRECATED() const;
inline float getSteeringAngleDeadzoneDeg() const;
@@ -3148,7 +3148,7 @@ public:
inline float getLatAccelOffset() const;
inline float getKd() const;
inline float getKdDEPRECATED() const;
private:
::capnp::_::StructReader _reader;
@@ -3181,17 +3181,17 @@ public:
inline bool getUseSteeringAngle();
inline void setUseSteeringAngle(bool value);
inline float getKp();
inline void setKp(float value);
inline float getKpDEPRECATED();
inline void setKpDEPRECATED(float value);
inline float getKi();
inline void setKi(float value);
inline float getKiDEPRECATED();
inline void setKiDEPRECATED(float value);
inline float getFriction();
inline void setFriction(float value);
inline float getKf();
inline void setKf(float value);
inline float getKfDEPRECATED();
inline void setKfDEPRECATED(float value);
inline float getSteeringAngleDeadzoneDeg();
inline void setSteeringAngleDeadzoneDeg(float value);
@@ -3202,8 +3202,8 @@ public:
inline float getLatAccelOffset();
inline void setLatAccelOffset(float value);
inline float getKd();
inline void setKd(float value);
inline float getKdDEPRECATED();
inline void setKdDEPRECATED(float value);
private:
::capnp::_::StructBuilder _builder;
@@ -3266,7 +3266,7 @@ public:
inline bool hasDeadzoneV() const;
inline ::capnp::List<float, ::capnp::Kind::PRIMITIVE>::Reader getDeadzoneV() const;
inline float getKf() const;
inline float getKfDEPRECATED() const;
private:
::capnp::_::StructReader _reader;
@@ -3344,8 +3344,8 @@ public:
inline void adoptDeadzoneV(::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>>&& value);
inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> disownDeadzoneV();
inline float getKf();
inline void setKf(float value);
inline float getKfDEPRECATED();
inline void setKfDEPRECATED(float value);
private:
::capnp::_::StructBuilder _builder;
@@ -7754,30 +7754,30 @@ inline void CarParams::LateralTorqueTuning::Builder::setUseSteeringAngle(bool va
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKp() const {
inline float CarParams::LateralTorqueTuning::Reader::getKpDEPRECATED() const {
return _reader.getDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKp() {
inline float CarParams::LateralTorqueTuning::Builder::getKpDEPRECATED() {
return _builder.getDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKp(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKpDEPRECATED(float value) {
_builder.setDataField<float>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKi() const {
inline float CarParams::LateralTorqueTuning::Reader::getKiDEPRECATED() const {
return _reader.getDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKi() {
inline float CarParams::LateralTorqueTuning::Builder::getKiDEPRECATED() {
return _builder.getDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKi(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKiDEPRECATED(float value) {
_builder.setDataField<float>(
::capnp::bounded<2>() * ::capnp::ELEMENTS, value);
}
@@ -7796,16 +7796,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setFriction(float value) {
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKf() const {
inline float CarParams::LateralTorqueTuning::Reader::getKfDEPRECATED() const {
return _reader.getDataField<float>(
::capnp::bounded<4>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKf() {
inline float CarParams::LateralTorqueTuning::Builder::getKfDEPRECATED() {
return _builder.getDataField<float>(
::capnp::bounded<4>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKf(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKfDEPRECATED(float value) {
_builder.setDataField<float>(
::capnp::bounded<4>() * ::capnp::ELEMENTS, value);
}
@@ -7852,16 +7852,16 @@ inline void CarParams::LateralTorqueTuning::Builder::setLatAccelOffset(float val
::capnp::bounded<7>() * ::capnp::ELEMENTS, value);
}
inline float CarParams::LateralTorqueTuning::Reader::getKd() const {
inline float CarParams::LateralTorqueTuning::Reader::getKdDEPRECATED() const {
return _reader.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline float CarParams::LateralTorqueTuning::Builder::getKd() {
inline float CarParams::LateralTorqueTuning::Builder::getKdDEPRECATED() {
return _builder.getDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS);
}
inline void CarParams::LateralTorqueTuning::Builder::setKd(float value) {
inline void CarParams::LateralTorqueTuning::Builder::setKdDEPRECATED(float value) {
_builder.setDataField<float>(
::capnp::bounded<8>() * ::capnp::ELEMENTS, value);
}
@@ -8094,16 +8094,16 @@ inline ::capnp::Orphan< ::capnp::List<float, ::capnp::Kind::PRIMITIVE>> CarPara
::capnp::bounded<5>() * ::capnp::POINTERS));
}
inline float CarParams::LongitudinalPIDTuning::Reader::getKf() const {
inline float CarParams::LongitudinalPIDTuning::Reader::getKfDEPRECATED() const {
return _reader.getDataField<float>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
}
inline float CarParams::LongitudinalPIDTuning::Builder::getKf() {
inline float CarParams::LongitudinalPIDTuning::Builder::getKfDEPRECATED() {
return _builder.getDataField<float>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
}
inline void CarParams::LongitudinalPIDTuning::Builder::setKf(float value) {
inline void CarParams::LongitudinalPIDTuning::Builder::setKfDEPRECATED(float value) {
_builder.setDataField<float>(
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
}
cereal/gen/cpp/custom.capnp.c++
+205 -276
View File
@@ -642,17 +642,17 @@ const ::capnp::_::RawSchema s_aedffd8f31e7b55d = {
};
#endif // !CAPNP_LITE
CAPNP_DEFINE_ENUM(EventName_aedffd8f31e7b55d, aedffd8f31e7b55d);
static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
static const ::capnp::_::AlignedData<123> b_f35cc4560bbf6ec2 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
194, 110, 191, 11, 86, 196, 92, 243,
13, 0, 0, 0, 1, 0, 1, 0,
89, 10, 85, 29, 102, 186, 38, 181,
2, 0, 7, 0, 0, 0, 0, 0,
1, 0, 7, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 2, 1, 0, 0,
33, 0, 0, 0, 23, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 0, 0, 0, 143, 1, 0, 0,
45, 0, 0, 0, 87, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 117, 115, 116, 111, 109, 46, 99,
@@ -664,56 +664,49 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
1, 0, 0, 0, 106, 0, 0, 0,
83, 97, 102, 101, 116, 121, 67, 111,
110, 102, 105, 103, 0, 0, 0, 0,
28, 0, 0, 0, 3, 0, 4, 0,
24, 0, 0, 0, 3, 0, 4, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
181, 0, 0, 0, 98, 0, 0, 0,
153, 0, 0, 0, 98, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
180, 0, 0, 0, 3, 0, 1, 0,
192, 0, 0, 0, 2, 0, 1, 0,
152, 0, 0, 0, 3, 0, 1, 0,
164, 0, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
189, 0, 0, 0, 90, 0, 0, 0,
161, 0, 0, 0, 90, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
188, 0, 0, 0, 3, 0, 1, 0,
200, 0, 0, 0, 2, 0, 1, 0,
160, 0, 0, 0, 3, 0, 1, 0,
172, 0, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
197, 0, 0, 0, 66, 0, 0, 0,
169, 0, 0, 0, 66, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
192, 0, 0, 0, 3, 0, 1, 0,
204, 0, 0, 0, 2, 0, 1, 0,
164, 0, 0, 0, 3, 0, 1, 0,
176, 0, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
201, 0, 0, 0, 58, 0, 0, 0,
173, 0, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
196, 0, 0, 0, 3, 0, 1, 0,
208, 0, 0, 0, 2, 0, 1, 0,
168, 0, 0, 0, 3, 0, 1, 0,
180, 0, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
205, 0, 0, 0, 42, 1, 0, 0,
177, 0, 0, 0, 42, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
216, 0, 0, 0, 3, 0, 1, 0,
228, 0, 0, 0, 2, 0, 1, 0,
188, 0, 0, 0, 3, 0, 1, 0,
200, 0, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
225, 0, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
224, 0, 0, 0, 3, 0, 1, 0,
252, 0, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0,
73, 118, 234, 203, 210, 73, 201, 252,
249, 0, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
197, 0, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
196, 0, 0, 0, 3, 0, 1, 0,
224, 0, 0, 0, 2, 0, 1, 0,
99, 97, 110, 85, 115, 101, 80, 101,
100, 97, 108, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0,
@@ -772,21 +765,18 @@ static const ::capnp::_::AlignedData<132> b_f35cc4560bbf6ec2 = {
0, 0, 0, 0, 0, 0, 0, 0,
14, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 97, 116, 101, 114, 97, 108, 84,
117, 110, 105, 110, 103, 0, 0, 0, }
0, 0, 0, 0, 0, 0, 0, 0, }
};
::capnp::word const* const bp_f35cc4560bbf6ec2 = b_f35cc4560bbf6ec2.words;
#if !CAPNP_LITE
static const ::capnp::_::RawSchema* const d_f35cc4560bbf6ec2[] = {
&s_8d65dd40bad40951,
&s_fcc949d2cbea7649,
};
static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 6, 4, 5};
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5, 6};
static const uint16_t m_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5};
static const uint16_t i_f35cc4560bbf6ec2[] = {0, 1, 2, 3, 4, 5};
const ::capnp::_::RawSchema s_f35cc4560bbf6ec2 = {
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 132, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
2, 7, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
0xf35cc4560bbf6ec2, b_f35cc4560bbf6ec2.words, 123, d_f35cc4560bbf6ec2, m_f35cc4560bbf6ec2,
1, 6, i_f35cc4560bbf6ec2, nullptr, nullptr, { &s_f35cc4560bbf6ec2, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<36> b_8d65dd40bad40951 = {
@@ -836,71 +826,6 @@ const ::capnp::_::RawSchema s_8d65dd40bad40951 = {
0, 1, i_8d65dd40bad40951, nullptr, nullptr, { &s_8d65dd40bad40951, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<49> b_fcc949d2cbea7649 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
73, 118, 234, 203, 210, 73, 201, 252,
32, 0, 0, 0, 1, 0, 1, 0,
194, 110, 191, 11, 86, 196, 92, 243,
2, 0, 7, 0, 1, 0, 2, 0,
1, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 114, 1, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
33, 0, 0, 0, 119, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 117, 115, 116, 111, 109, 46, 99,
97, 112, 110, 112, 58, 70, 114, 111,
103, 80, 105, 108, 111, 116, 67, 97,
114, 80, 97, 114, 97, 109, 115, 46,
108, 97, 116, 101, 114, 97, 108, 84,
117, 110, 105, 110, 103, 0, 0, 0,
8, 0, 0, 0, 3, 0, 4, 0,
0, 0, 255, 255, 1, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
41, 0, 0, 0, 34, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
36, 0, 0, 0, 3, 0, 1, 0,
48, 0, 0, 0, 2, 0, 1, 0,
1, 0, 254, 255, 1, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 0, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 0, 0, 0, 3, 0, 1, 0,
52, 0, 0, 0, 2, 0, 1, 0,
112, 105, 100, 0, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
46, 76, 209, 203, 63, 114, 34, 150,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
116, 111, 114, 113, 117, 101, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
29, 204, 78, 128, 14, 110, 54, 128,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
16, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, }
};
::capnp::word const* const bp_fcc949d2cbea7649 = b_fcc949d2cbea7649.words;
#if !CAPNP_LITE
static const ::capnp::_::RawSchema* const d_fcc949d2cbea7649[] = {
&s_80366e0e804ecc1d,
&s_9622723fcbd14c2e,
&s_f35cc4560bbf6ec2,
};
static const uint16_t m_fcc949d2cbea7649[] = {0, 1};
static const uint16_t i_fcc949d2cbea7649[] = {0, 1};
const ::capnp::_::RawSchema s_fcc949d2cbea7649 = {
0xfcc949d2cbea7649, b_fcc949d2cbea7649.words, 49, d_fcc949d2cbea7649, m_fcc949d2cbea7649,
3, 2, i_fcc949d2cbea7649, nullptr, nullptr, { &s_fcc949d2cbea7649, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<268> b_da96579883444c35 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
53, 76, 68, 131, 152, 87, 150, 218,
@@ -1739,7 +1664,7 @@ const ::capnp::_::RawSchema s_f416ec09499d9d19 = {
0, 3, i_f416ec09499d9d19, nullptr, nullptr, { &s_f416ec09499d9d19, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
static const ::capnp::_::AlignedData<613> b_a1680744031fdb2d = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
45, 219, 31, 3, 68, 7, 104, 161,
13, 0, 0, 0, 1, 0, 13, 0,
@@ -1749,7 +1674,7 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
21, 0, 0, 0, 218, 0, 0, 0,
33, 0, 0, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 0, 0, 0, 175, 7, 0, 0,
29, 0, 0, 0, 231, 7, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
99, 117, 115, 116, 111, 109, 46, 99,
@@ -1757,252 +1682,259 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
103, 80, 105, 108, 111, 116, 80, 108,
97, 110, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 1, 0,
140, 0, 0, 0, 3, 0, 4, 0,
144, 0, 0, 0, 3, 0, 4, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
197, 3, 0, 0, 138, 0, 0, 0,
225, 3, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
200, 3, 0, 0, 3, 0, 1, 0,
212, 3, 0, 0, 2, 0, 1, 0,
228, 3, 0, 0, 3, 0, 1, 0,
240, 3, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
209, 3, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
212, 3, 0, 0, 3, 0, 1, 0,
224, 3, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 64, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
221, 3, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
224, 3, 0, 0, 3, 0, 1, 0,
236, 3, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
233, 3, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
232, 3, 0, 0, 3, 0, 1, 0,
244, 3, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 65, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
241, 3, 0, 0, 98, 0, 0, 0,
237, 3, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
240, 3, 0, 0, 3, 0, 1, 0,
252, 3, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
2, 0, 0, 0, 64, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
249, 3, 0, 0, 90, 0, 0, 0,
249, 3, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
248, 3, 0, 0, 3, 0, 1, 0,
4, 4, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
252, 3, 0, 0, 3, 0, 1, 0,
8, 4, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
1, 4, 0, 0, 178, 0, 0, 0,
5, 4, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
4, 4, 0, 0, 3, 0, 1, 0,
16, 4, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 65, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 4, 0, 0, 98, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
12, 4, 0, 0, 3, 0, 1, 0,
24, 4, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 4, 0, 0, 90, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
20, 4, 0, 0, 3, 0, 1, 0,
32, 4, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
29, 4, 0, 0, 178, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
32, 4, 0, 0, 3, 0, 1, 0,
44, 4, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 66, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 4, 0, 0, 138, 0, 0, 0,
41, 4, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
16, 4, 0, 0, 3, 0, 1, 0,
28, 4, 0, 0, 2, 0, 1, 0,
40, 4, 0, 0, 3, 0, 1, 0,
52, 4, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 67, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
25, 4, 0, 0, 98, 0, 0, 0,
49, 4, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
24, 4, 0, 0, 3, 0, 1, 0,
36, 4, 0, 0, 2, 0, 1, 0,
9, 0, 0, 0, 5, 0, 0, 0,
52, 4, 0, 0, 3, 0, 1, 0,
64, 4, 0, 0, 2, 0, 1, 0,
9, 0, 0, 0, 68, 0, 0, 0,
0, 0, 1, 0, 9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
33, 4, 0, 0, 146, 0, 0, 0,
61, 4, 0, 0, 98, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
36, 4, 0, 0, 3, 0, 1, 0,
48, 4, 0, 0, 2, 0, 1, 0,
10, 0, 0, 0, 0, 0, 0, 0,
60, 4, 0, 0, 3, 0, 1, 0,
72, 4, 0, 0, 2, 0, 1, 0,
10, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 10, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 4, 0, 0, 130, 0, 0, 0,
69, 4, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
44, 4, 0, 0, 3, 0, 1, 0,
72, 4, 0, 0, 2, 0, 1, 0,
11, 0, 0, 0, 8, 0, 0, 0,
72, 4, 0, 0, 3, 0, 1, 0,
84, 4, 0, 0, 2, 0, 1, 0,
11, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 11, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
69, 4, 0, 0, 202, 0, 0, 0,
81, 4, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
76, 4, 0, 0, 3, 0, 1, 0,
88, 4, 0, 0, 2, 0, 1, 0,
12, 0, 0, 0, 68, 0, 0, 0,
80, 4, 0, 0, 3, 0, 1, 0,
108, 4, 0, 0, 2, 0, 1, 0,
12, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 12, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
85, 4, 0, 0, 106, 0, 0, 0,
105, 4, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
84, 4, 0, 0, 3, 0, 1, 0,
96, 4, 0, 0, 2, 0, 1, 0,
13, 0, 0, 0, 9, 0, 0, 0,
112, 4, 0, 0, 3, 0, 1, 0,
124, 4, 0, 0, 2, 0, 1, 0,
13, 0, 0, 0, 69, 0, 0, 0,
0, 0, 1, 0, 13, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
93, 4, 0, 0, 114, 0, 0, 0,
121, 4, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
92, 4, 0, 0, 3, 0, 1, 0,
104, 4, 0, 0, 2, 0, 1, 0,
14, 0, 0, 0, 10, 0, 0, 0,
120, 4, 0, 0, 3, 0, 1, 0,
132, 4, 0, 0, 2, 0, 1, 0,
14, 0, 0, 0, 9, 0, 0, 0,
0, 0, 1, 0, 14, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
101, 4, 0, 0, 122, 0, 0, 0,
129, 4, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 4, 0, 0, 3, 0, 1, 0,
112, 4, 0, 0, 2, 0, 1, 0,
15, 0, 0, 0, 11, 0, 0, 0,
128, 4, 0, 0, 3, 0, 1, 0,
140, 4, 0, 0, 2, 0, 1, 0,
15, 0, 0, 0, 10, 0, 0, 0,
0, 0, 1, 0, 15, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 4, 0, 0, 130, 0, 0, 0,
137, 4, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 4, 0, 0, 3, 0, 1, 0,
120, 4, 0, 0, 2, 0, 1, 0,
16, 0, 0, 0, 12, 0, 0, 0,
136, 4, 0, 0, 3, 0, 1, 0,
148, 4, 0, 0, 2, 0, 1, 0,
16, 0, 0, 0, 11, 0, 0, 0,
0, 0, 1, 0, 16, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
117, 4, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
116, 4, 0, 0, 3, 0, 1, 0,
128, 4, 0, 0, 2, 0, 1, 0,
17, 0, 0, 0, 69, 0, 0, 0,
0, 0, 1, 0, 17, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
125, 4, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
124, 4, 0, 0, 3, 0, 1, 0,
136, 4, 0, 0, 2, 0, 1, 0,
18, 0, 0, 0, 13, 0, 0, 0,
0, 0, 1, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
133, 4, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
132, 4, 0, 0, 3, 0, 1, 0,
144, 4, 0, 0, 2, 0, 1, 0,
19, 0, 0, 0, 14, 0, 0, 0,
0, 0, 1, 0, 19, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
141, 4, 0, 0, 138, 0, 0, 0,
145, 4, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
144, 4, 0, 0, 3, 0, 1, 0,
156, 4, 0, 0, 2, 0, 1, 0,
20, 0, 0, 0, 15, 0, 0, 0,
0, 0, 1, 0, 20, 0, 0, 0,
17, 0, 0, 0, 12, 0, 0, 0,
0, 0, 1, 0, 17, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
153, 4, 0, 0, 162, 0, 0, 0,
153, 4, 0, 0, 130, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
156, 4, 0, 0, 3, 0, 1, 0,
168, 4, 0, 0, 2, 0, 1, 0,
21, 0, 0, 0, 16, 0, 0, 0,
0, 0, 1, 0, 21, 0, 0, 0,
152, 4, 0, 0, 3, 0, 1, 0,
164, 4, 0, 0, 2, 0, 1, 0,
18, 0, 0, 0, 70, 0, 0, 0,
0, 0, 1, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
165, 4, 0, 0, 146, 0, 0, 0,
161, 4, 0, 0, 74, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
160, 4, 0, 0, 3, 0, 1, 0,
172, 4, 0, 0, 2, 0, 1, 0,
19, 0, 0, 0, 13, 0, 0, 0,
0, 0, 1, 0, 19, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
169, 4, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
168, 4, 0, 0, 3, 0, 1, 0,
180, 4, 0, 0, 2, 0, 1, 0,
22, 0, 0, 0, 17, 0, 0, 0,
0, 0, 1, 0, 22, 0, 0, 0,
20, 0, 0, 0, 14, 0, 0, 0,
0, 0, 1, 0, 20, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
177, 4, 0, 0, 154, 0, 0, 0,
177, 4, 0, 0, 138, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
180, 4, 0, 0, 3, 0, 1, 0,
192, 4, 0, 0, 2, 0, 1, 0,
23, 0, 0, 0, 18, 0, 0, 0,
21, 0, 0, 0, 15, 0, 0, 0,
0, 0, 1, 0, 21, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
189, 4, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
192, 4, 0, 0, 3, 0, 1, 0,
204, 4, 0, 0, 2, 0, 1, 0,
22, 0, 0, 0, 16, 0, 0, 0,
0, 0, 1, 0, 22, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
201, 4, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
204, 4, 0, 0, 3, 0, 1, 0,
216, 4, 0, 0, 2, 0, 1, 0,
23, 0, 0, 0, 17, 0, 0, 0,
0, 0, 1, 0, 23, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
189, 4, 0, 0, 114, 0, 0, 0,
213, 4, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
188, 4, 0, 0, 3, 0, 1, 0,
200, 4, 0, 0, 2, 0, 1, 0,
24, 0, 0, 0, 19, 0, 0, 0,
216, 4, 0, 0, 3, 0, 1, 0,
228, 4, 0, 0, 2, 0, 1, 0,
24, 0, 0, 0, 18, 0, 0, 0,
0, 0, 1, 0, 24, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
197, 4, 0, 0, 162, 0, 0, 0,
225, 4, 0, 0, 114, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
200, 4, 0, 0, 3, 0, 1, 0,
212, 4, 0, 0, 2, 0, 1, 0,
25, 0, 0, 0, 1, 0, 0, 0,
224, 4, 0, 0, 3, 0, 1, 0,
236, 4, 0, 0, 2, 0, 1, 0,
25, 0, 0, 0, 19, 0, 0, 0,
0, 0, 1, 0, 25, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
209, 4, 0, 0, 162, 0, 0, 0,
233, 4, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
212, 4, 0, 0, 3, 0, 1, 0,
224, 4, 0, 0, 2, 0, 1, 0,
26, 0, 0, 0, 20, 0, 0, 0,
236, 4, 0, 0, 3, 0, 1, 0,
248, 4, 0, 0, 2, 0, 1, 0,
26, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 26, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
221, 4, 0, 0, 82, 0, 0, 0,
245, 4, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
220, 4, 0, 0, 3, 0, 1, 0,
232, 4, 0, 0, 2, 0, 1, 0,
27, 0, 0, 0, 21, 0, 0, 0,
248, 4, 0, 0, 3, 0, 1, 0,
4, 5, 0, 0, 2, 0, 1, 0,
27, 0, 0, 0, 20, 0, 0, 0,
0, 0, 1, 0, 27, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
229, 4, 0, 0, 122, 0, 0, 0,
1, 5, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
228, 4, 0, 0, 3, 0, 1, 0,
240, 4, 0, 0, 2, 0, 1, 0,
28, 0, 0, 0, 70, 0, 0, 0,
0, 5, 0, 0, 3, 0, 1, 0,
12, 5, 0, 0, 2, 0, 1, 0,
28, 0, 0, 0, 21, 0, 0, 0,
0, 0, 1, 0, 28, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
237, 4, 0, 0, 146, 0, 0, 0,
9, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
240, 4, 0, 0, 3, 0, 1, 0,
252, 4, 0, 0, 2, 0, 1, 0,
29, 0, 0, 0, 22, 0, 0, 0,
8, 5, 0, 0, 3, 0, 1, 0,
20, 5, 0, 0, 2, 0, 1, 0,
29, 0, 0, 0, 71, 0, 0, 0,
0, 0, 1, 0, 29, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
249, 4, 0, 0, 66, 0, 0, 0,
17, 5, 0, 0, 146, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
244, 4, 0, 0, 3, 0, 1, 0,
0, 5, 0, 0, 2, 0, 1, 0,
30, 0, 0, 0, 71, 0, 0, 0,
20, 5, 0, 0, 3, 0, 1, 0,
32, 5, 0, 0, 2, 0, 1, 0,
30, 0, 0, 0, 22, 0, 0, 0,
0, 0, 1, 0, 30, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
253, 4, 0, 0, 106, 0, 0, 0,
29, 5, 0, 0, 66, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
252, 4, 0, 0, 3, 0, 1, 0,
8, 5, 0, 0, 2, 0, 1, 0,
24, 5, 0, 0, 3, 0, 1, 0,
36, 5, 0, 0, 2, 0, 1, 0,
31, 0, 0, 0, 72, 0, 0, 0,
0, 0, 1, 0, 31, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
5, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
4, 5, 0, 0, 3, 0, 1, 0,
16, 5, 0, 0, 2, 0, 1, 0,
32, 0, 0, 0, 73, 0, 0, 0,
0, 0, 1, 0, 32, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
13, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
12, 5, 0, 0, 3, 0, 1, 0,
24, 5, 0, 0, 2, 0, 1, 0,
33, 0, 0, 0, 23, 0, 0, 0,
0, 0, 1, 0, 33, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 5, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
28, 5, 0, 0, 3, 0, 1, 0,
40, 5, 0, 0, 2, 0, 1, 0,
34, 0, 0, 0, 24, 0, 0, 0,
0, 0, 1, 0, 34, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
37, 5, 0, 0, 66, 0, 0, 0,
33, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
32, 5, 0, 0, 3, 0, 1, 0,
44, 5, 0, 0, 2, 0, 1, 0,
32, 0, 0, 0, 73, 0, 0, 0,
0, 0, 1, 0, 32, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
41, 5, 0, 0, 122, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 5, 0, 0, 3, 0, 1, 0,
52, 5, 0, 0, 2, 0, 1, 0,
33, 0, 0, 0, 74, 0, 0, 0,
0, 0, 1, 0, 33, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
49, 5, 0, 0, 106, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 5, 0, 0, 3, 0, 1, 0,
60, 5, 0, 0, 2, 0, 1, 0,
34, 0, 0, 0, 23, 0, 0, 0,
0, 0, 1, 0, 34, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
57, 5, 0, 0, 202, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
64, 5, 0, 0, 3, 0, 1, 0,
76, 5, 0, 0, 2, 0, 1, 0,
35, 0, 0, 0, 24, 0, 0, 0,
0, 0, 1, 0, 35, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
73, 5, 0, 0, 66, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
68, 5, 0, 0, 3, 0, 1, 0,
80, 5, 0, 0, 2, 0, 1, 0,
97, 99, 99, 101, 108, 101, 114, 97,
116, 105, 111, 110, 74, 101, 114, 107,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -2070,6 +2002,15 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
5, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 105, 115, 97, 98, 108, 101, 84,
104, 114, 111, 116, 116, 108, 101, 0,
1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
101, 120, 112, 101, 114, 105, 109, 101,
110, 116, 97, 108, 77, 111, 100, 101,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -2343,11 +2284,11 @@ static const ::capnp::_::AlignedData<597> b_a1680744031fdb2d = {
static const ::capnp::_::RawSchema* const d_a1680744031fdb2d[] = {
&s_81c2f05a394cf4af,
};
static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 13, 14, 12, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34};
static const uint16_t m_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 13, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
static const uint16_t i_a1680744031fdb2d[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35};
const ::capnp::_::RawSchema s_a1680744031fdb2d = {
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 597, d_a1680744031fdb2d, m_a1680744031fdb2d,
1, 35, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
0xa1680744031fdb2d, b_a1680744031fdb2d.words, 613, d_a1680744031fdb2d, m_a1680744031fdb2d,
1, 36, i_a1680744031fdb2d, nullptr, nullptr, { &s_a1680744031fdb2d, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<55> b_cb9fd56c7057593a = {
@@ -2761,18 +2702,6 @@ constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::SafetyConfig::_capnpP
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
#endif // !CAPNP_LITE
// FrogPilotCarParams::LateralTuning
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::dataWordSize;
constexpr uint16_t FrogPilotCarParams::LateralTuning::_capnpPrivate::pointerCount;
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
#if !CAPNP_LITE
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
constexpr ::capnp::Kind FrogPilotCarParams::LateralTuning::_capnpPrivate::kind;
constexpr ::capnp::_::RawSchema const* FrogPilotCarParams::LateralTuning::_capnpPrivate::schema;
#endif // !CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
#endif // !CAPNP_LITE
// FrogPilotCarState
#if CAPNP_NEED_REDUNDANT_CONSTEXPR_DECL
constexpr uint16_t FrogPilotCarState::_capnpPrivate::dataWordSize;
cereal/gen/cpp/custom.capnp.h
+54 -292
View File
@@ -84,7 +84,6 @@ enum class EventName_aedffd8f31e7b55d: uint16_t {
CAPNP_DECLARE_ENUM(EventName, aedffd8f31e7b55d);
CAPNP_DECLARE_SCHEMA(f35cc4560bbf6ec2);
CAPNP_DECLARE_SCHEMA(8d65dd40bad40951);
CAPNP_DECLARE_SCHEMA(fcc949d2cbea7649);
CAPNP_DECLARE_SCHEMA(da96579883444c35);
CAPNP_DECLARE_SCHEMA(ccb4d6b0dc102d40);
CAPNP_DECLARE_SCHEMA(8033e8e60d6a0edb);
@@ -185,10 +184,9 @@ struct FrogPilotCarParams {
class Builder;
class Pipeline;
struct SafetyConfig;
struct LateralTuning;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 2)
CAPNP_DECLARE_STRUCT_HEADER(f35cc4560bbf6ec2, 1, 1)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -210,25 +208,6 @@ struct FrogPilotCarParams::SafetyConfig {
};
};
struct FrogPilotCarParams::LateralTuning {
LateralTuning() = delete;
class Reader;
class Builder;
class Pipeline;
enum Which: uint16_t {
PID,
TORQUE,
};
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(fcc949d2cbea7649, 1, 2)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
};
};
struct FrogPilotCarState {
FrogPilotCarState() = delete;
@@ -690,8 +669,6 @@ public:
inline bool hasSafetyConfigs() const;
inline ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig, ::capnp::Kind::STRUCT>::Reader getSafetyConfigs() const;
inline typename LateralTuning::Reader getLateralTuning() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -742,9 +719,6 @@ public:
inline void adoptSafetyConfigs(::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig, ::capnp::Kind::STRUCT>>&& value);
inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfig, ::capnp::Kind::STRUCT>> disownSafetyConfigs();
inline typename LateralTuning::Builder getLateralTuning();
inline typename LateralTuning::Builder initLateralTuning();
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -763,7 +737,6 @@ public:
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
: _typeless(kj::mv(typeless)) {}
inline typename LateralTuning::Pipeline getLateralTuning();
private:
::capnp::AnyPointer::Pipeline _typeless;
friend class ::capnp::PipelineHook;
@@ -848,103 +821,6 @@ private:
};
#endif // !CAPNP_LITE
class FrogPilotCarParams::LateralTuning::Reader {
public:
typedef LateralTuning Reads;
Reader() = default;
inline explicit Reader(::capnp::_::StructReader base): _reader(base) {}
inline ::capnp::MessageSize totalSize() const {
return _reader.totalSize().asPublic();
}
#if !CAPNP_LITE
inline ::kj::StringTree toString() const {
return ::capnp::_::structString(_reader, *_capnpPrivate::brand());
}
#endif // !CAPNP_LITE
inline Which which() const;
inline bool isPid() const;
inline bool hasPid() const;
inline ::cereal::CarParams::LateralPIDTuning::Reader getPid() const;
inline bool isTorque() const;
inline bool hasTorque() const;
inline ::cereal::CarParams::LateralTorqueTuning::Reader getTorque() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
template <typename, ::capnp::Kind>
friend struct ::capnp::_::PointerHelpers;
template <typename, ::capnp::Kind>
friend struct ::capnp::List;
friend class ::capnp::MessageBuilder;
friend class ::capnp::Orphanage;
};
class FrogPilotCarParams::LateralTuning::Builder {
public:
typedef LateralTuning Builds;
Builder() = delete; // Deleted to discourage incorrect usage.
// You can explicitly initialize to nullptr instead.
inline Builder(decltype(nullptr)) {}
inline explicit Builder(::capnp::_::StructBuilder base): _builder(base) {}
inline operator Reader() const { return Reader(_builder.asReader()); }
inline Reader asReader() const { return *this; }
inline ::capnp::MessageSize totalSize() const { return asReader().totalSize(); }
#if !CAPNP_LITE
inline ::kj::StringTree toString() const { return asReader().toString(); }
#endif // !CAPNP_LITE
inline Which which();
inline bool isPid();
inline bool hasPid();
inline ::cereal::CarParams::LateralPIDTuning::Builder getPid();
inline void setPid( ::cereal::CarParams::LateralPIDTuning::Reader value);
inline ::cereal::CarParams::LateralPIDTuning::Builder initPid();
inline void adoptPid(::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> disownPid();
inline bool isTorque();
inline bool hasTorque();
inline ::cereal::CarParams::LateralTorqueTuning::Builder getTorque();
inline void setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value);
inline ::cereal::CarParams::LateralTorqueTuning::Builder initTorque();
inline void adoptTorque(::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value);
inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> disownTorque();
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
friend class ::capnp::Orphanage;
template <typename, ::capnp::Kind>
friend struct ::capnp::_::PointerHelpers;
};
#if !CAPNP_LITE
class FrogPilotCarParams::LateralTuning::Pipeline {
public:
typedef LateralTuning Pipelines;
inline Pipeline(decltype(nullptr)): _typeless(nullptr) {}
inline explicit Pipeline(::capnp::AnyPointer::Pipeline&& typeless)
: _typeless(kj::mv(typeless)) {}
private:
::capnp::AnyPointer::Pipeline _typeless;
friend class ::capnp::PipelineHook;
template <typename, ::capnp::Kind>
friend struct ::capnp::ToDynamic_;
};
#endif // !CAPNP_LITE
class FrogPilotCarState::Reader {
public:
typedef FrogPilotCarState Reads;
@@ -1557,6 +1433,8 @@ public:
inline ::int64_t getDesiredFollowDistance() const;
inline bool getDisableThrottle() const;
inline bool getExperimentalMode() const;
inline bool getForcingStop() const;
@@ -1664,6 +1542,9 @@ public:
inline ::int64_t getDesiredFollowDistance();
inline void setDesiredFollowDistance( ::int64_t value);
inline bool getDisableThrottle();
inline void setDisableThrottle(bool value);
inline bool getExperimentalMode();
inline void setExperimentalMode(bool value);
@@ -2339,22 +2220,6 @@ inline ::capnp::Orphan< ::capnp::List< ::cereal::FrogPilotCarParams::SafetyConfi
::capnp::bounded<0>() * ::capnp::POINTERS));
}
inline typename FrogPilotCarParams::LateralTuning::Reader FrogPilotCarParams::Reader::getLateralTuning() const {
return typename FrogPilotCarParams::LateralTuning::Reader(_reader);
}
inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::getLateralTuning() {
return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
}
#if !CAPNP_LITE
inline typename FrogPilotCarParams::LateralTuning::Pipeline FrogPilotCarParams::Pipeline::getLateralTuning() {
return typename FrogPilotCarParams::LateralTuning::Pipeline(_typeless.noop());
}
#endif // !CAPNP_LITE
inline typename FrogPilotCarParams::LateralTuning::Builder FrogPilotCarParams::Builder::initLateralTuning() {
_builder.setDataField< ::uint16_t>(::capnp::bounded<1>() * ::capnp::ELEMENTS, 0);
_builder.getPointerField(::capnp::bounded<1>() * ::capnp::POINTERS).clear();
return typename FrogPilotCarParams::LateralTuning::Builder(_builder);
}
inline ::uint16_t FrogPilotCarParams::SafetyConfig::Reader::getSafetyParam() const {
return _reader.getDataField< ::uint16_t>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -2369,123 +2234,6 @@ inline void FrogPilotCarParams::SafetyConfig::Builder::setSafetyParam( ::uint16_
::capnp::bounded<0>() * ::capnp::ELEMENTS, value);
}
inline ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Reader::which() const {
return _reader.getDataField<Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline ::cereal::FrogPilotCarParams::LateralTuning::Which FrogPilotCarParams::LateralTuning::Builder::which() {
return _builder.getDataField<Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotCarParams::LateralTuning::Reader::isPid() const {
return which() == FrogPilotCarParams::LateralTuning::PID;
}
inline bool FrogPilotCarParams::LateralTuning::Builder::isPid() {
return which() == FrogPilotCarParams::LateralTuning::PID;
}
inline bool FrogPilotCarParams::LateralTuning::Reader::hasPid() const {
if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
return !_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline bool FrogPilotCarParams::LateralTuning::Builder::hasPid() {
if (which() != FrogPilotCarParams::LateralTuning::PID) return false;
return !_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline ::cereal::CarParams::LateralPIDTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getPid() const {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getPid() {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::get(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline void FrogPilotCarParams::LateralTuning::Builder::setPid( ::cereal::CarParams::LateralPIDTuning::Reader value) {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::set(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), value);
}
inline ::cereal::CarParams::LateralPIDTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initPid() {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::init(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline void FrogPilotCarParams::LateralTuning::Builder::adoptPid(
::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning>&& value) {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::PID);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::adopt(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::cereal::CarParams::LateralPIDTuning> FrogPilotCarParams::LateralTuning::Builder::disownPid() {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::PID),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralPIDTuning>::disown(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline bool FrogPilotCarParams::LateralTuning::Reader::isTorque() const {
return which() == FrogPilotCarParams::LateralTuning::TORQUE;
}
inline bool FrogPilotCarParams::LateralTuning::Builder::isTorque() {
return which() == FrogPilotCarParams::LateralTuning::TORQUE;
}
inline bool FrogPilotCarParams::LateralTuning::Reader::hasTorque() const {
if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
return !_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline bool FrogPilotCarParams::LateralTuning::Builder::hasTorque() {
if (which() != FrogPilotCarParams::LateralTuning::TORQUE) return false;
return !_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS).isNull();
}
inline ::cereal::CarParams::LateralTorqueTuning::Reader FrogPilotCarParams::LateralTuning::Reader::getTorque() const {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_reader.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::getTorque() {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::get(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline void FrogPilotCarParams::LateralTuning::Builder::setTorque( ::cereal::CarParams::LateralTorqueTuning::Reader value) {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::set(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), value);
}
inline ::cereal::CarParams::LateralTorqueTuning::Builder FrogPilotCarParams::LateralTuning::Builder::initTorque() {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::init(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline void FrogPilotCarParams::LateralTuning::Builder::adoptTorque(
::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning>&& value) {
_builder.setDataField<FrogPilotCarParams::LateralTuning::Which>(
::capnp::bounded<1>() * ::capnp::ELEMENTS, FrogPilotCarParams::LateralTuning::TORQUE);
::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::adopt(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS), kj::mv(value));
}
inline ::capnp::Orphan< ::cereal::CarParams::LateralTorqueTuning> FrogPilotCarParams::LateralTuning::Builder::disownTorque() {
KJ_IREQUIRE((which() == FrogPilotCarParams::LateralTuning::TORQUE),
"Must check which() before get()ing a union member.");
return ::capnp::_::PointerHelpers< ::cereal::CarParams::LateralTorqueTuning>::disown(_builder.getPointerField(
::capnp::bounded<1>() * ::capnp::POINTERS));
}
inline bool FrogPilotCarState::Reader::getAccelPressed() const {
return _reader.getDataField<bool>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
@@ -3036,34 +2784,48 @@ inline void FrogPilotPlan::Builder::setDesiredFollowDistance( ::int64_t value) {
::capnp::bounded<3>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
inline bool FrogPilotPlan::Reader::getDisableThrottle() const {
return _reader.getDataField<bool>(
::capnp::bounded<66>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getExperimentalMode() {
inline bool FrogPilotPlan::Builder::getDisableThrottle() {
return _builder.getDataField<bool>(
::capnp::bounded<66>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
inline void FrogPilotPlan::Builder::setDisableThrottle(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<66>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getForcingStop() const {
inline bool FrogPilotPlan::Reader::getExperimentalMode() const {
return _reader.getDataField<bool>(
::capnp::bounded<67>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getForcingStop() {
inline bool FrogPilotPlan::Builder::getExperimentalMode() {
return _builder.getDataField<bool>(
::capnp::bounded<67>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
inline void FrogPilotPlan::Builder::setExperimentalMode(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<67>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getForcingStop() const {
return _reader.getDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getForcingStop() {
return _builder.getDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setForcingStop(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
}
inline float FrogPilotPlan::Reader::getForcingStopLength() const {
return _reader.getDataField<float>(
::capnp::bounded<5>() * ::capnp::ELEMENTS);
@@ -3128,16 +2890,16 @@ inline void FrogPilotPlan::Builder::setIncreasedStoppedDistance(float value) {
inline bool FrogPilotPlan::Reader::getLateralCheck() const {
return _reader.getDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS);
::capnp::bounded<69>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getLateralCheck() {
return _builder.getDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS);
::capnp::bounded<69>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setLateralCheck(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<68>() * ::capnp::ELEMENTS, value);
::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
}
inline float FrogPilotPlan::Reader::getLaneWidthLeft() const {
@@ -3198,16 +2960,16 @@ inline void FrogPilotPlan::Builder::setMinAcceleration(float value) {
inline bool FrogPilotPlan::Reader::getRedLight() const {
return _reader.getDataField<bool>(
::capnp::bounded<69>() * ::capnp::ELEMENTS);
::capnp::bounded<70>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getRedLight() {
return _builder.getDataField<bool>(
::capnp::bounded<69>() * ::capnp::ELEMENTS);
::capnp::bounded<70>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setRedLight(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<69>() * ::capnp::ELEMENTS, value);
::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
}
inline float FrogPilotPlan::Reader::getRoadCurvature() const {
@@ -3372,16 +3134,16 @@ inline void FrogPilotPlan::Builder::setSpeedJerkStock(float value) {
inline bool FrogPilotPlan::Reader::getSpeedLimitChanged() const {
return _reader.getDataField<bool>(
::capnp::bounded<70>() * ::capnp::ELEMENTS);
::capnp::bounded<71>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getSpeedLimitChanged() {
return _builder.getDataField<bool>(
::capnp::bounded<70>() * ::capnp::ELEMENTS);
::capnp::bounded<71>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setSpeedLimitChanged(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<70>() * ::capnp::ELEMENTS, value);
::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
}
inline float FrogPilotPlan::Reader::getTFollow() const {
@@ -3400,46 +3162,46 @@ inline void FrogPilotPlan::Builder::setTFollow(float value) {
inline bool FrogPilotPlan::Reader::getThemeUpdated() const {
return _reader.getDataField<bool>(
::capnp::bounded<71>() * ::capnp::ELEMENTS);
::capnp::bounded<72>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getThemeUpdated() {
return _builder.getDataField<bool>(
::capnp::bounded<71>() * ::capnp::ELEMENTS);
::capnp::bounded<72>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setThemeUpdated(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<71>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
return _reader.getDataField<bool>(
::capnp::bounded<72>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
return _builder.getDataField<bool>(
::capnp::bounded<72>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<72>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getTrackingLead() const {
inline bool FrogPilotPlan::Reader::getTogglesUpdated() const {
return _reader.getDataField<bool>(
::capnp::bounded<73>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getTrackingLead() {
inline bool FrogPilotPlan::Builder::getTogglesUpdated() {
return _builder.getDataField<bool>(
::capnp::bounded<73>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
inline void FrogPilotPlan::Builder::setTogglesUpdated(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<73>() * ::capnp::ELEMENTS, value);
}
inline bool FrogPilotPlan::Reader::getTrackingLead() const {
return _reader.getDataField<bool>(
::capnp::bounded<74>() * ::capnp::ELEMENTS);
}
inline bool FrogPilotPlan::Builder::getTrackingLead() {
return _builder.getDataField<bool>(
::capnp::bounded<74>() * ::capnp::ELEMENTS);
}
inline void FrogPilotPlan::Builder::setTrackingLead(bool value) {
_builder.setDataField<bool>(
::capnp::bounded<74>() * ::capnp::ELEMENTS, value);
}
inline float FrogPilotPlan::Reader::getUnconfirmedSlcSpeedLimit() const {
return _reader.getDataField<float>(
::capnp::bounded<23>() * ::capnp::ELEMENTS);
cereal/gen/cpp/log.capnp.c++
+103 -71
View File
@@ -9336,17 +9336,17 @@ const ::capnp::_::RawSchema s_f28c5dc9e09375e3 = {
0, 10, i_f28c5dc9e09375e3, nullptr, nullptr, { &s_f28c5dc9e09375e3, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
static const ::capnp::_::AlignedData<223> b_e774a050cbf689a4 = {
{ 0, 0, 0, 0, 5, 0, 6, 0,
164, 137, 246, 203, 80, 160, 116, 231,
24, 0, 0, 0, 1, 0, 5, 0,
24, 0, 0, 0, 1, 0, 6, 0,
241, 171, 1, 54, 197, 105, 255, 151,
0, 0, 7, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
21, 0, 0, 0, 90, 1, 0, 0,
41, 0, 0, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
37, 0, 0, 0, 111, 2, 0, 0,
37, 0, 0, 0, 223, 2, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 111, 103, 46, 99, 97, 112, 110,
@@ -9356,84 +9356,98 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
111, 114, 113, 117, 101, 83, 116, 97,
116, 101, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1, 0, 1, 0,
44, 0, 0, 0, 3, 0, 4, 0,
52, 0, 0, 0, 3, 0, 4, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
37, 1, 0, 0, 58, 0, 0, 0,
93, 1, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
32, 1, 0, 0, 3, 0, 1, 0,
44, 1, 0, 0, 2, 0, 1, 0,
88, 1, 0, 0, 3, 0, 1, 0,
100, 1, 0, 0, 2, 0, 1, 0,
1, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 1, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
41, 1, 0, 0, 50, 0, 0, 0,
97, 1, 0, 0, 50, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
36, 1, 0, 0, 3, 0, 1, 0,
48, 1, 0, 0, 2, 0, 1, 0,
92, 1, 0, 0, 3, 0, 1, 0,
104, 1, 0, 0, 2, 0, 1, 0,
3, 0, 0, 0, 2, 0, 0, 0,
0, 0, 1, 0, 2, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
45, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
40, 1, 0, 0, 3, 0, 1, 0,
52, 1, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
49, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
44, 1, 0, 0, 3, 0, 1, 0,
56, 1, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
53, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
48, 1, 0, 0, 3, 0, 1, 0,
60, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
57, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
52, 1, 0, 0, 3, 0, 1, 0,
64, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
61, 1, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
56, 1, 0, 0, 3, 0, 1, 0,
68, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
65, 1, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
64, 1, 0, 0, 3, 0, 1, 0,
76, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
73, 1, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
72, 1, 0, 0, 3, 0, 1, 0,
84, 1, 0, 0, 2, 0, 1, 0,
9, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
81, 1, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
84, 1, 0, 0, 3, 0, 1, 0,
96, 1, 0, 0, 2, 0, 1, 0,
10, 0, 0, 0, 9, 0, 0, 0,
0, 0, 1, 0, 10, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
93, 1, 0, 0, 162, 0, 0, 0,
101, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
96, 1, 0, 0, 3, 0, 1, 0,
108, 1, 0, 0, 2, 0, 1, 0,
4, 0, 0, 0, 3, 0, 0, 0,
0, 0, 1, 0, 3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
105, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 1, 0, 0, 3, 0, 1, 0,
112, 1, 0, 0, 2, 0, 1, 0,
5, 0, 0, 0, 4, 0, 0, 0,
0, 0, 1, 0, 4, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
109, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
104, 1, 0, 0, 3, 0, 1, 0,
116, 1, 0, 0, 2, 0, 1, 0,
6, 0, 0, 0, 5, 0, 0, 0,
0, 0, 1, 0, 5, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
113, 1, 0, 0, 18, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
108, 1, 0, 0, 3, 0, 1, 0,
120, 1, 0, 0, 2, 0, 1, 0,
7, 0, 0, 0, 6, 0, 0, 0,
0, 0, 1, 0, 6, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
117, 1, 0, 0, 58, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
112, 1, 0, 0, 3, 0, 1, 0,
124, 1, 0, 0, 2, 0, 1, 0,
8, 0, 0, 0, 1, 0, 0, 0,
0, 0, 1, 0, 7, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
121, 1, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
120, 1, 0, 0, 3, 0, 1, 0,
132, 1, 0, 0, 2, 0, 1, 0,
2, 0, 0, 0, 7, 0, 0, 0,
0, 0, 1, 0, 8, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
129, 1, 0, 0, 82, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
128, 1, 0, 0, 3, 0, 1, 0,
140, 1, 0, 0, 2, 0, 1, 0,
9, 0, 0, 0, 8, 0, 0, 0,
0, 0, 1, 0, 9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
137, 1, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
140, 1, 0, 0, 3, 0, 1, 0,
152, 1, 0, 0, 2, 0, 1, 0,
10, 0, 0, 0, 9, 0, 0, 0,
0, 0, 1, 0, 10, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
149, 1, 0, 0, 162, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
152, 1, 0, 0, 3, 0, 1, 0,
164, 1, 0, 0, 2, 0, 1, 0,
11, 0, 0, 0, 10, 0, 0, 0,
0, 0, 1, 0, 11, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
161, 1, 0, 0, 154, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
164, 1, 0, 0, 3, 0, 1, 0,
176, 1, 0, 0, 2, 0, 1, 0,
12, 0, 0, 0, 11, 0, 0, 0,
0, 0, 1, 0, 12, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
173, 1, 0, 0, 66, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
168, 1, 0, 0, 3, 0, 1, 0,
180, 1, 0, 0, 2, 0, 1, 0,
97, 99, 116, 105, 118, 101, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
@@ -9526,16 +9540,34 @@ static const ::capnp::_::AlignedData<191> b_e774a050cbf689a4 = {
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
100, 101, 115, 105, 114, 101, 100, 76,
97, 116, 101, 114, 97, 108, 74, 101,
114, 107, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
10, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
118, 101, 114, 115, 105, 111, 110, 0,
4, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
4, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, }
};
::capnp::word const* const bp_e774a050cbf689a4 = b_e774a050cbf689a4.words;
#if !CAPNP_LITE
static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 1, 8, 5, 3, 6, 2, 7};
static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10};
static const uint16_t m_e774a050cbf689a4[] = {0, 9, 4, 10, 11, 1, 8, 5, 3, 6, 2, 7, 12};
static const uint16_t i_e774a050cbf689a4[] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12};
const ::capnp::_::RawSchema s_e774a050cbf689a4 = {
0xe774a050cbf689a4, b_e774a050cbf689a4.words, 191, nullptr, m_e774a050cbf689a4,
0, 11, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
0xe774a050cbf689a4, b_e774a050cbf689a4.words, 223, nullptr, m_e774a050cbf689a4,
0, 13, i_e774a050cbf689a4, nullptr, nullptr, { &s_e774a050cbf689a4, nullptr, nullptr, 0, 0, nullptr }, false
};
#endif // !CAPNP_LITE
static const ::capnp::_::AlignedData<130> b_9024e2d790c82ade = {
cereal/gen/cpp/log.capnp.h
+39 -1
View File
@@ -1076,7 +1076,7 @@ struct ControlsState::LateralTorqueState {
class Pipeline;
struct _capnpPrivate {
CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 5, 0)
CAPNP_DECLARE_STRUCT_HEADER(e774a050cbf689a4, 6, 0)
#if !CAPNP_LITE
static constexpr ::capnp::_::RawBrandedSchema const* brand() { return &schema->defaultBrand; }
#endif // !CAPNP_LITE
@@ -7531,6 +7531,10 @@ public:
inline float getDesiredLateralAccel() const;
inline float getDesiredLateralJerk() const;
inline ::int32_t getVersion() const;
private:
::capnp::_::StructReader _reader;
template <typename, ::capnp::Kind>
@@ -7592,6 +7596,12 @@ public:
inline float getDesiredLateralAccel();
inline void setDesiredLateralAccel(float value);
inline float getDesiredLateralJerk();
inline void setDesiredLateralJerk(float value);
inline ::int32_t getVersion();
inline void setVersion( ::int32_t value);
private:
::capnp::_::StructBuilder _builder;
template <typename, ::capnp::Kind>
@@ -30064,6 +30074,34 @@ inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralAccel(f
::capnp::bounded<9>() * ::capnp::ELEMENTS, value);
}
inline float ControlsState::LateralTorqueState::Reader::getDesiredLateralJerk() const {
return _reader.getDataField<float>(
::capnp::bounded<10>() * ::capnp::ELEMENTS);
}
inline float ControlsState::LateralTorqueState::Builder::getDesiredLateralJerk() {
return _builder.getDataField<float>(
::capnp::bounded<10>() * ::capnp::ELEMENTS);
}
inline void ControlsState::LateralTorqueState::Builder::setDesiredLateralJerk(float value) {
_builder.setDataField<float>(
::capnp::bounded<10>() * ::capnp::ELEMENTS, value);
}
inline ::int32_t ControlsState::LateralTorqueState::Reader::getVersion() const {
return _reader.getDataField< ::int32_t>(
::capnp::bounded<11>() * ::capnp::ELEMENTS);
}
inline ::int32_t ControlsState::LateralTorqueState::Builder::getVersion() {
return _builder.getDataField< ::int32_t>(
::capnp::bounded<11>() * ::capnp::ELEMENTS);
}
inline void ControlsState::LateralTorqueState::Builder::setVersion( ::int32_t value) {
_builder.setDataField< ::int32_t>(
::capnp::bounded<11>() * ::capnp::ELEMENTS, value);
}
inline bool ControlsState::LateralLQRState::Reader::getActive() const {
return _reader.getDataField<bool>(
::capnp::bounded<0>() * ::capnp::ELEMENTS);
cereal/libcereal_shared.so
BIN
View File
Binary file not shown.
cereal/log.capnp
+2
View File
@@ -795,6 +795,8 @@ struct ControlsState @0x97ff69c53601abf1 {
saturated @7 :Bool;
actualLateralAccel @9 :Float32;
desiredLateralAccel @10 :Float32;
desiredLateralJerk @11 :Float32;
version @12 :Int32;
}
struct LateralLQRState {
frogpilot/assets/nnff_models/CHEVROLET_BOLT_EUV.json
+1
View File
@@ -0,0 +1 @@
{"input_std":[[9.281861],[1.8477924],[0.7977224],[0.047467366],[1.7969038],[1.8168812],[1.8351218],[1.785757],[1.7335743],[1.6658221],[1.5893887],[0.047346078],[0.0473731],[0.047383286],[0.047291175],[0.047300573],[0.04712479],[0.046799928]],"model_test_loss":0.027355343103408813,"input_size":18,"current_date_and_time":"2023-08-05_05-11-44","input_mean":[[21.655252],[-0.07694559],[-0.006081294],[-0.007598456],[-0.07309746],[-0.075890236],[-0.07804942],[-0.076106496],[-0.07184982],[-0.06528668],[-0.060404416],[-0.0077262702],[-0.0077046235],[-0.0076850485],[-0.007687444],[-0.007708868],[-0.0077959923],[-0.008017422]],"input_vars":["v_ego","lateral_accel","lateral_jerk","roll","lateral_accel_m03","lateral_accel_m02","lateral_accel_m01","lateral_accel_p03","lateral_accel_p06","lateral_accel_p10","lateral_accel_p15","roll_m03","roll_m02","roll_m01","roll_p03","roll_p06","roll_p10","roll_p15"],"output_size":1,"layers":[{"dense_1_b":[[-0.35776415],[-0.126288],[0.007988413],[0.03850029],[-0.056796823],[0.0072075897],[0.17376427]],"dense_1_W":[[0.010538558,6.7293744,-0.007391298,-1.035045,-0.47446147,1.0940393,0.08225446,-0.5795131,0.573115,1.82923,-0.16999252,0.8818023,0.03560901,-0.9470653,-1.042151,1.1532398,1.9009485,-1.2265956],[0.009010456,-1.3618345,0.039026346,0.22943486,-0.6669799,-0.768271,-0.16828564,-0.13406865,0.19760236,-0.18953702,-0.019137766,0.1468623,0.26367718,0.4732375,0.73679143,0.62450147,0.30198866,-0.93340015],[-0.044318866,2.2138615,9.620889,-0.66480356,-0.06849887,-0.038568456,-0.30580127,-0.088089585,0.31187677,0.5968372,-1.1462088,0.13234706,0.29166338,-0.69978577,-0.01790655,-0.097928315,-0.56950736,0.7560642],[1.3758256,0.8700429,-0.24295154,0.20832618,-0.7735097,1.0379355,-0.60753095,-0.5457418,-1.0892137,-0.6708325,0.24982774,0.09251328,0.08596103,-0.58034134,-0.3046114,-0.19754426,0.006461508,0.5989185],[0.06314328,-2.492993,-0.28200585,0.49902886,0.8513198,-0.5704965,1.0960953,-0.08426956,-0.76074624,0.10669376,0.02775254,-0.42194095,-0.34657434,-0.10863868,0.17019278,0.0963825,-0.10169116,0.21243806],[0.007984091,-1.9276509,-0.0013926353,0.04057924,1.4438432,1.3440262,-2.506722,1.700801,0.72410774,0.13471895,-0.18753268,0.7303607,0.018133093,-0.71643597,0.07050904,-0.30161944,0.085108586,0.061202843],[0.9413167,-0.9954305,-0.19510143,-0.4711845,-0.12398665,-0.45175523,1.0616771,0.28550953,-0.55543137,-0.21576759,-0.2364377,-0.012782618,-0.050565187,0.257694,-0.20975965,0.00022543047,-0.08760746,0.4983852]],"activation":"σ"},{"dense_2_W":[[-0.71804935,0.017023304,-0.099854074,-0.3262651,-0.402829,-0.12073083,0.13537839],[-0.44002575,-0.1071093,-0.58886194,-0.17319413,-0.21134079,0.23135148,0.0006880979],[-0.55711204,-0.8693639,-0.6443761,-0.7382846,0.18980889,-0.6082511,-0.63103676],[0.11338112,-0.5327033,0.2856197,0.32239884,-0.72682667,0.5302305,-0.45094746],[-0.35197002,-0.14440043,-0.025249843,-0.48697743,0.3340018,-0.25992322,0.0050561456],[0.34757507,0.15670523,-0.14263277,0.50704384,-0.020171141,0.6408679,-0.3074123],[0.40258837,-0.59363264,0.35948923,-0.060853776,-0.0072541097,0.89743376,-0.49789146],[-0.63476,0.29580453,0.1689314,-0.5061521,0.24901053,-0.23218995,0.57968193],[-0.66173035,0.50861925,-0.5845035,-0.6602214,0.8341883,-0.31437424,0.8046359],[0.038493533,0.15464582,-0.04848341,-0.57820857,-0.25891733,-0.47527292,0.21441916],[-0.15464531,-0.07454202,-0.8215851,-0.12614948,-0.5924209,0.00017916794,0.24154592],[0.6091424,-0.112086505,0.1144111,-0.31035227,-0.9237534,0.041003596,-0.3542808],[0.2989792,-0.23780549,0.116059326,-0.6056522,0.5499526,-0.9001413,0.5200723]],"activation":"σ","dense_2_b":[[-0.2638964],[-0.24607328],[-0.15493082],[-0.0071187904],[-0.23515384],[-0.09098133],[-0.034066215],[0.03609036],[-0.03842933],[-0.042302527],[-0.2439947],[-0.16342077],[-0.01030317]]},{"dense_3_W":[[0.45771673,-0.2084603,0.3570187,0.35835707,0.13684571,-0.582958,0.29889587,0.43543494,0.11841301,-0.26185623,-0.4988437,0.5752996,-0.28057483],[-0.19594137,0.050280698,-0.29057446,-0.2829161,-0.16987291,-0.21278952,-0.59946907,0.21295123,0.7040468,0.53549695,-0.52553934,-0.19560973,0.6233473],[-0.19091003,0.08669418,-0.5792192,0.57799137,-0.36263424,0.6037143,0.27898273,-0.30951327,-0.3572644,0.46720102,-0.5403428,0.32415462,-0.60570025]],"activation":"identity","dense_3_b":[[-0.0047377176],[0.023170695],[-0.021546118]]},{"dense_4_W":[[-0.12453941,-1.006034,0.96776205]],"dense_4_b":[[-0.02351544]],"activation":"identity"}]}
frogpilot/common/frogpilot_utilities.py
+3 -3
View File
@@ -296,12 +296,12 @@ def update_openpilot():
if params.get("UpdaterState", encoding="utf-8") != "idle":
return
while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
time.sleep(60)
if not update_available():
return
while params.get_bool("IsOnroad") or params_memory.get_bool("UpdateSpeedLimits") or running_threads.get("lock_doors", threading.Thread()).is_alive():
time.sleep(60)
while True:
if not update_available():
break
frogpilot/common/frogpilot_variables.py
+9 -8
View File
@@ -19,6 +19,7 @@ from openpilot.selfdrive.car.mock.interface import CarInterface
from openpilot.selfdrive.car.mock.values import CAR as MOCK
from openpilot.selfdrive.car.toyota.values import ToyotaFlags, ToyotaFrogPilotFlags
from openpilot.selfdrive.controls.lib.desire_helper import LANE_CHANGE_SPEED_MIN
from openpilot.selfdrive.controls.lib.latcontrol_torque import KP
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.system.hardware import HARDWARE
from openpilot.system.hardware.power_monitoring import VBATT_PAUSE_CHARGING
@@ -531,6 +532,10 @@ class FrogPilotVariables:
safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
CP.safetyConfigs = [safety_config]
is_torque_car = CP.lateralTuning.which() == "torque"
if not is_torque_car:
CarInterfaceBase.configure_torque_tune(MOCK.MOCK, CP.lateralTuning)
fpmsg_bytes = params.get("FrogPilotCarParams" if started else "FrogPilotCarParamsPersistent", block=started)
if fpmsg_bytes:
with custom.FrogPilotCarParams.from_bytes(fpmsg_bytes) as fpcp_reader:
@@ -539,17 +544,13 @@ class FrogPilotVariables:
CarInterface, _, _ = interfaces[MOCK.MOCK]
FPCP = CarInterface.get_frogpilot_params(MOCK.MOCK, gen_empty_fingerprint(), [], CP, toggle)
is_torque_car = FPCP.lateralTuning.which() == "torque"
if not is_torque_car:
CarInterfaceBase.configure_torque_tune(MOCK.MOCK, FPCP.lateralTuning)
toggle.always_on_lateral_set = bool(CP.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL)
toggle.car_make = CP.carName
toggle.car_model = CP.carFingerprint
toggle.disable_openpilot_long = params.get_bool("DisableOpenpilotLongitudinal") if tuning_level >= level["DisableOpenpilotLongitudinal"] else default.get_bool("DisableOpenpilotLongitudinal")
friction = FPCP.lateralTuning.torque.friction
has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and FPCP.lateralTuning.which() == "torque"
friction = CP.lateralTuning.torque.friction
has_auto_tune = toggle.car_make in {"hyundai", "toyota"} and CP.lateralTuning.which() == "torque"
has_bsm = CP.enableBsm
toggle.has_cc_long = toggle.car_make == "gm" and bool(CP.flags & GMFlags.CC_LONG.value)
has_nnff = nnff_supported(toggle.car_model)
@@ -559,14 +560,14 @@ class FrogPilotVariables:
has_sng = CP.autoResumeSng
toggle.has_zss = toggle.car_make == "toyota" and bool(FPCP.fpFlags & ToyotaFrogPilotFlags.ZSS.value)
is_angle_car = CP.steerControlType == car.CarParams.SteerControlType.angle
latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
latAccelFactor = CP.lateralTuning.torque.latAccelFactor
longitudinalActuatorDelay = CP.longitudinalActuatorDelay
toggle.openpilot_longitudinal = CP.openpilotLongitudinalControl and not toggle.disable_openpilot_long
pcm_cruise = CP.pcmCruise
startAccel = CP.startAccel
stopAccel = CP.stopAccel
steerActuatorDelay = CP.steerActuatorDelay
steerKp = FPCP.lateralTuning.torque.kp
steerKp = CP.lateralTuning.pid.kp if CP.lateralTuning.which() == "pid" else KP
steerRatio = CP.steerRatio
toggle.stoppingDecelRate = CP.stoppingDecelRate
taco_hacks_allowed = CP.safetyConfigs[0].safetyModel == SafetyModel.hyundaiCanfd
frogpilot/controls/frogpilot_planner.py
+5 -1
View File
@@ -9,7 +9,7 @@ from openpilot.common.conversions import Conversions as CV
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.realtime import DT_MDL
from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, DANGER_ZONE_COST, J_EGO_COST
from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import A_CHANGE_COST, COMFORT_BRAKE, DANGER_ZONE_COST, J_EGO_COST
from openpilot.frogpilot.common.frogpilot_utilities import calculate_lane_width, calculate_road_curvature
from openpilot.frogpilot.common.frogpilot_variables import CRUISING_SPEED, MINIMUM_LATERAL_ACCELERATION, PLANNER_TIME, THRESHOLD, params, params_memory
@@ -65,6 +65,8 @@ class FrogPilotPlanner:
self.cem.curve_detected = False
self.cem.stop_sign_and_light(v_ego, sm, PLANNER_TIME - 2)
self.driving_in_curve = abs(self.lateral_acceleration) >= MINIMUM_LATERAL_ACCELERATION
self.frogpilot_events.update(v_cruise, sm, frogpilot_toggles)
@@ -140,6 +142,8 @@ class FrogPilotPlanner:
frogpilotPlan.desiredFollowDistance = self.frogpilot_following.desired_follow_distance
frogpilotPlan.disableThrottle = self.frogpilot_following.disable_throttle
frogpilotPlan.experimentalMode = self.cem.experimental_mode or self.frogpilot_vcruise.slc.experimental_mode
frogpilotPlan.forcingStop = self.frogpilot_vcruise.forcing_stop
frogpilot/controls/lib/frogpilot_following.py
+7 -1
View File
@@ -11,6 +11,7 @@ class FrogPilotFollowing:
def __init__(self, FrogPilotPlanner):
self.frogpilot_planner = FrogPilotPlanner
self.disable_throttle = False
self.following_lead = False
self.slower_lead = False
@@ -63,7 +64,12 @@ class FrogPilotFollowing:
self.danger_jerk = self.base_danger_jerk
self.speed_jerk = self.base_speed_jerk
self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow + 1) * v_ego
self.following_lead = self.frogpilot_planner.tracking_lead and self.frogpilot_planner.lead_one.dRel < (self.t_follow * 2) * v_ego
self.disable_throttle = self.frogpilot_planner.tracking_lead and not self.following_lead
self.disable_throttle &= self.frogpilot_planner.lead_one.dRel + 6.0 < (self.t_follow * 2 * 2) * v_ego
self.disable_throttle &= self.frogpilot_planner.lead_one.vLead < v_ego * 0.75
if sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead:
self.update_follow_values(self.frogpilot_planner.lead_one.dRel, v_ego, self.frogpilot_planner.lead_one.vLead, frogpilot_toggles)
frogpilot/controls/lib/frogpilot_vcruise.py
+2 -11
View File
@@ -18,6 +18,7 @@ class FrogPilotVCruise:
self.override_force_stop = False
self.override_force_stop_timer = 0
self.force_stop_timer = 0.0
def update(self, gps_position, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles):
force_stop = self.frogpilot_planner.cem.stop_light_detected and sm["controlsState"].enabled and frogpilot_toggles.force_stops
@@ -58,16 +59,6 @@ class FrogPilotVCruise:
self.csc_target = v_cruise
# Mike's extended lead linear braking
if self.frogpilot_planner.lead_one.vLead < v_ego > CRUISING_SPEED and sm["controlsState"].enabled and self.frogpilot_planner.tracking_lead and frogpilot_toggles.human_following:
if not self.frogpilot_planner.frogpilot_following.following_lead:
decel_rate = (v_ego - self.frogpilot_planner.lead_one.vLead)**2 / self.frogpilot_planner.lead_one.dRel
self.braking_target = max(v_ego - (decel_rate * DT_MDL), self.frogpilot_planner.lead_one.vLead + CRUISING_SPEED)
else:
self.braking_target = v_cruise
else:
self.braking_target = v_cruise
# Pfeiferj's Speed Limit Controller
self.slc.frogpilot_toggles = frogpilot_toggles
@@ -97,7 +88,7 @@ class FrogPilotVCruise:
self.tracked_model_length = self.frogpilot_planner.model_length
targets = [self.braking_target, self.csc_target, v_cruise]
targets = [self.csc_target, v_cruise]
if frogpilot_toggles.speed_limit_controller:
targets.append(max(self.slc.overridden_speed, self.slc_target + self.slc_offset) - v_ego_diff)
frogpilot/controls/lib/neural_network_feedforward.py
+148 -86
View File
@@ -1,16 +1,21 @@
#!/usr/bin/env python3
# Twilsonco's Lateral Neural Network Feedforward
from collections import deque
from difflib import SequenceMatcher
# Twilsonco's Lateral Neural Network Feedforward Controller
import json
import math
import numpy as np
import os
from collections import deque
from difflib import SequenceMatcher
from cereal import log
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.common.numpy_fast import interp
from openpilot.common.params import Params
from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.latcontrol_torque import KD, KI, KP
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.modeld.constants import ModelConstants
from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get_nnff_model_files, params
@@ -29,8 +34,8 @@ from openpilot.frogpilot.common.frogpilot_variables import NNFF_MODELS_PATH, get
# dict used to rename activation functions whose names aren't valid python identifiers
ACTIVATION_FUNCTION_NAMES = {'σ': 'sigmoid'}
LOW_SPEED_Y_NN = [12, 3, 1, 0]
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [12, 3, 1, 0]
LAT_PLAN_MIN_IDX = 5
@@ -40,6 +45,7 @@ class FluxModel:
params = json.load(f)
self.input_size = params["input_size"]
self.output_size = params["output_size"]
self.input_mean = np.array(params["input_mean"], dtype=np.float32).T
self.input_std = np.array(params["input_std"], dtype=np.float32).T
@@ -123,7 +129,7 @@ def get_nn_model_path(car, eps_firmware) -> str | None:
def find_valid_model(*queries):
for query in queries:
path, score = best_model_path(query)
if path and car in path and score >= 0.9:
if path and score >= 0.9:
return path
return None
@@ -149,16 +155,18 @@ def sign(x):
def similarity(s1: str, s2: str) -> float:
return SequenceMatcher(None, s1, s2).ratio()
class NeuralNetworkFeedforward:
def __init__(self, CP, LatControlTorque):
self.lat_control_torque = LatControlTorque
class LatControlNNFF(LatControl):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.lat_torque_nn_model = get_nn_model(CP.carFingerprint, str(next((fw.fwVersion for fw in CP.carFw if fw.ecu == "eps"), "")).replace("\\", ""))
self.nnff_loaded = self.lat_torque_nn_model is not None
self.torque_from_lateral_accel = self.lat_control_torque.torque_from_lateral_accel
self.use_steering_angle = self.lat_control_torque.torque_params.useSteeringAngle
self.torque_params = CP.lateralTuning.torque
self.pid = PIDController(KP, KI, k_d=KD,
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.use_steering_angle = self.torque_params.useSteeringAngle
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
# Instantaneous lateral jerk changes very rapidly, making it not useful on its own,
# however, we can "look ahead" to the future planned lateral jerk in order to gauge
@@ -176,7 +184,6 @@ class NeuralNetworkFeedforward:
self.lat_jerk_friction_factor = 0.4
# precompute time differences between ModelConstants.T_IDXS
self.lateral_delay = CP.steerActuatorDelay
self.t_diffs = np.diff(ModelConstants.T_IDXS)
self.pitch = FirstOrderFilter(0.0, 0.5, 0.01)
@@ -188,7 +195,7 @@ class NeuralNetworkFeedforward:
# setup future time offsets
self.future_times = [0.3, 0.6, 1.0, 1.5] # seconds in the future
self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
self.nn_future_times = [time + CP.steerActuatorDelay for time in self.future_times]
# setup past time offsets
self.past_times = [-0.3, -0.2, -0.1]
@@ -199,95 +206,150 @@ class NeuralNetworkFeedforward:
self.roll_deque = deque(maxlen=history_check_frames[0])
def update_live_delay(self, lateral_delay):
self.lateral_delay = lateral_delay
self.nn_future_times = [time + self.lateral_delay for time in self.future_times]
self.nn_future_times = [time + lateral_delay for time in self.future_times]
self.past_future_len = len(self.past_times) + len(self.nn_future_times)
def compute_nnff(self, CS, VM, actual_lateral_accel, future_desired_lateral_accel, error, gravity_adjusted_future_lateral_accel, llk, measurement, model_data, params, pid_log, setpoint, frogpilot_toggles):
if self.use_steering_angle:
actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
self.torque_params.latAccelOffset = latAccelOffset
self.torque_params.friction = friction
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
pid_log = log.ControlsState.LateralTorqueState.new_message()
if not active:
output_torque = 0.0
pid_log.active = False
else:
actual_lateral_jerk = 0.0
actual_curvature_vm = -VM.calc_curvature(math.radians(CS.steeringAngleDeg - params.angleOffsetDeg), CS.vEgo, params.roll)
roll_compensation = params.roll * ACCELERATION_DUE_TO_GRAVITY
if self.use_steering_angle:
actual_curvature = actual_curvature_vm
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
else:
actual_curvature_llk = llk.angularVelocityCalibrated.value[2] / CS.vEgo
actual_curvature = interp(CS.vEgo, [2.0, 5.0], [actual_curvature_vm, actual_curvature_llk])
curvature_deadzone = 0.0
desired_lateral_accel = desired_curvature * CS.vEgo ** 2
model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
# desired rate is the desired rate of change in the setpoint, not the absolute desired curvature
# desired_lateral_jerk = desired_curvature_rate * CS.vEgo ** 2
actual_lateral_accel = actual_curvature * CS.vEgo ** 2
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
if model_good:
# prepare "look-ahead" desired lateral jerk
lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)
low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
gravity_adjusted_lateral_accel = desired_lateral_accel - roll_compensation
if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
if self.use_steering_angle:
actual_curvature_rate = -VM.calc_curvature(math.radians(CS.steeringRateDeg), CS.vEgo, 0.0)
actual_lateral_jerk = actual_curvature_rate * CS.vEgo ** 2
else:
actual_lateral_jerk = 0.0
predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
desired_lateral_jerk = (interp(self.lateral_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - future_desired_lateral_accel) / self.lateral_delay
model_good = model_data is not None and len(model_data.orientation.x) >= CONTROL_N
lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
if model_good:
# prepare "look-ahead" desired lateral jerk
lookahead = interp(CS.vEgo, self.friction_look_ahead_bp, self.friction_look_ahead_v)
friction_upper_idx = next((idxs for idxs, value in enumerate(ModelConstants.T_IDXS) if value > lookahead), 16)
if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
lookahead_lateral_jerk = 0.0
actual_lateral_jerk = 0.0
self.lat_accel_friction_factor = 1.0
predicted_lateral_jerk = get_predicted_lateral_jerk(model_data.acceleration.y, self.t_diffs)
desired_lateral_jerk = (interp(lat_delay, ModelConstants.T_IDXS, model_data.acceleration.y) - desired_lateral_accel) / lat_delay
lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
else:
lateral_jerk_setpoint = 0
lateral_jerk_measurement = 0
lookahead_lateral_jerk = 0
lookahead_lateral_jerk = get_lookahead_value(predicted_lateral_jerk[LAT_PLAN_MIN_IDX:friction_upper_idx], desired_lateral_jerk)
if self.lat_control_torque.nnff_loaded and model_good and frogpilot_toggles.nnff:
# update past data
pitch = 0
roll = params.roll
if len(llk.calibratedOrientationNED.value) > 1:
pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
roll = roll_pitch_adjust(roll, pitch)
if not self.use_steering_angle or lookahead_lateral_jerk == 0.0:
lookahead_lateral_jerk = 0.0
actual_lateral_jerk = 0.0
self.lat_accel_friction_factor = 1.0
self.roll_deque.append(roll)
self.lateral_accel_desired_deque.append(future_desired_lateral_accel)
lateral_jerk_setpoint = self.lat_jerk_friction_factor * lookahead_lateral_jerk
lateral_jerk_measurement = self.lat_jerk_friction_factor * actual_lateral_jerk
else:
lateral_jerk_setpoint = 0
lateral_jerk_measurement = 0
lookahead_lateral_jerk = 0
# prepare past and future values
# adjust future times to account for longitudinal acceleration
adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]
if self.nnff_loaded and model_good and frogpilot_toggles.nnff:
# update past data
pitch = 0
roll = params.roll
if len(llk.calibratedOrientationNED.value) > 1:
pitch = self.pitch.update(llk.calibratedOrientationNED.value[1])
roll = roll_pitch_adjust(roll, pitch)
past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]
self.roll_deque.append(roll)
self.lateral_accel_desired_deque.append(desired_lateral_accel)
base_input = [CS.vEgo, roll]
nnff_common = past_rolls + future_rolls
# prepare past and future values
# adjust future times to account for longitudinal acceleration
adjusted_future_times = [time + 0.5 * CS.aEgo * (time / max(CS.vEgo, 1.0)) for time in self.nn_future_times]
past_rolls = [self.roll_deque[min(len(self.roll_deque)-1, offset)] for offset in self.history_frame_offsets]
future_rolls = [roll_pitch_adjust(interp(time, ModelConstants.T_IDXS, model_data.orientation.x) + roll, interp(time, ModelConstants.T_IDXS, model_data.orientation.y) + pitch) for time in adjusted_future_times]
# compute NNFF error response
nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common
past_lateral_accels_desired = [self.lateral_accel_desired_deque[min(len(self.lateral_accel_desired_deque)-1, offset)] for offset in self.history_frame_offsets]
future_lateral_accels = [interp(time, ModelConstants.T_IDXS[:CONTROL_N], model_data.acceleration.y) for time in adjusted_future_times]
torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
base_input = [CS.vEgo, roll]
nnff_common = past_rolls + future_rolls
pid_log.error = torque_from_setpoint - torque_from_measurement
# compute NNFF error response
nnff_setpoint_input = base_input[:1] + [setpoint, lateral_jerk_setpoint] + base_input[1:] + [setpoint] * self.past_future_len + nnff_common
nnff_measurement_input = base_input[:1] + [measurement, lateral_jerk_measurement] + base_input[1:] + [measurement] * self.past_future_len + nnff_common
error_blend = interp(abs(future_desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
if error_blend > 0.0: # blend in stronger error response when in high lat accel
torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend
torque_from_setpoint = self.lat_torque_nn_model.evaluate(nnff_setpoint_input)
torque_from_measurement = self.lat_torque_nn_model.evaluate(nnff_measurement_input)
# compute feedforward (same as nn setpoint output)
friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
nn_input = [CS.vEgo, future_desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
ff = self.lat_torque_nn_model.evaluate(nn_input)
pid_log.error = torque_from_setpoint - torque_from_measurement
# apply friction override for cars with low NN friction response
if self.nn_friction_override:
pid_log.error += self.torque_from_lateral_accel(0.0, self.lat_control_torque.torque_params)
else:
torque_from_measurement = self.torque_from_lateral_accel(measurement, self.lat_control_torque.torque_params)
torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.lat_control_torque.torque_params)
error_blend = interp(abs(desired_lateral_accel), [1.0, 2.0], [0.0, 1.0])
if error_blend > 0.0: # blend in stronger error response when in high lat accel
torque_from_error = self.lat_torque_nn_model.evaluate([CS.vEgo, setpoint - measurement, lateral_jerk_setpoint - lateral_jerk_measurement, 0.0])
if sign(pid_log.error) == sign(torque_from_error) and abs(pid_log.error) < abs(torque_from_error):
pid_log.error = pid_log.error * (1.0 - error_blend) + torque_from_error * error_blend
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
# compute feedforward (same as nn setpoint output)
error = setpoint - measurement
friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
nn_input = [CS.vEgo, desired_lateral_accel, friction_input, roll] + past_lateral_accels_desired + future_lateral_accels + nnff_common
ff = self.lat_torque_nn_model.evaluate(nn_input)
friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
ff = self.torque_from_lateral_accel(gravity_adjusted_future_lateral_accel, self.lat_control_torque.torque_params)
# apply friction override for cars with low NN friction response
if self.nn_friction_override:
pid_log.error += self.torque_from_lateral_accel(0.0, self.torque_params)
else:
torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)
return pid_log, ff
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
error = desired_lateral_accel - actual_lateral_accel
friction_input = self.lat_accel_friction_factor * error + self.lat_jerk_friction_factor * lookahead_lateral_jerk
ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
else:
torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params)
torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params)
pid_log.error = float(torque_from_setpoint - torque_from_measurement)
ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque)
pid_log.actualLateralAccel = float(actual_lateral_accel)
pid_log.desiredLateralAccel = float(desired_lateral_accel)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
# TODO left is positive in this convention
return -output_torque, 0.0, pid_log
frogpilot/system/environment_variables
Executable → Regular
BIN
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frogpilot/ui/qt/offroad/frogpilot_settings.cc
+14 -5
View File
@@ -277,17 +277,21 @@ void FrogPilotSettingsWindow::updateVariables() {
isHKG = carMake == "hyundai";
isHKGCanFd = isHKG && safetyModel == cereal::CarParams::SafetyModel::HYUNDAI_CANFD;
isSubaru = carMake == "subaru";
isTorqueCar = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::TORQUE;
isToyota = carMake == "toyota";
isTSK = CP.getSecOcRequired();
isVolt = carFingerprint == "CHEVROLET_VOLT";
longitudinalActuatorDelay = CP.getLongitudinalActuatorDelay();
startAccel = CP.getStartAccel();
steerActuatorDelay = CP.getSteerActuatorDelay();
steerKp = CP.getLateralTuning().which() == cereal::CarParams::LateralTuning::PID ? CP.getLateralTuning().getPid().getKpV()[0] : 0.6;
steerRatio = CP.getSteerRatio();
stopAccel = CP.getStopAccel();
stoppingDecelRate = CP.getStoppingDecelRate();
vEgoStarting = CP.getVEgoStarting();
vEgoStopping = CP.getVEgoStopping();
friction = CP.getLateralTuning().getTorque().getFriction();
latAccelFactor = CP.getLateralTuning().getTorque().getLatAccelFactor();
float currentDelayStock = params.getFloat("SteerDelayStock");
float currentFrictionStock = params.getFloat("SteerFrictionStock");
@@ -387,12 +391,17 @@ void FrogPilotSettingsWindow::updateVariables() {
canUsePedal = FPCP.getCanUsePedal();
canUseSDSU = FPCP.getCanUseSDSU();
friction = FPCP.getLateralTuning().getTorque().getFriction();
hasAutoTune = (carMake == "hyundai" || carMake == "toyota") && FPCP.getLateralTuning().which() == cereal::FrogPilotCarParams::LateralTuning::TORQUE;
isTorqueCar = FPCP.getLateralTuning().which() == cereal::FrogPilotCarParams::LateralTuning::TORQUE;
latAccelFactor = FPCP.getLateralTuning().getTorque().getLatAccelFactor();
openpilotLongitudinalControlDisabled = FPCP.getOpenpilotLongitudinalControlDisabled();
steerKp = FPCP.getLateralTuning().getTorque().getKp();
}
std::string liveTorqueParameters = params.get("LiveTorqueParameters");
if (!liveTorqueParameters.empty()) {
AlignedBuffer aligned_buf;
capnp::FlatArrayMessageReader reader(aligned_buf.align(liveTorqueParameters.data(), liveTorqueParameters.size()));
cereal::Event::Reader event = reader.getRoot<cereal::Event>();
cereal::LiveTorqueParametersData::Reader LTP = event.getLiveTorqueParameters();
hasAutoTune = LTP.getUseParams();
}
isC3 = util::read_file("/sys/firmware/devicetree/base/model").find("tici") != std::string::npos;
frogpilot/ui/qt/offroad/lateral_settings.cc
+55 -74
View File
@@ -39,11 +39,11 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
const std::vector<std::tuple<QString, QString, QString, QString>> lateralToggles {
{"AdvancedLateralTune", tr("Advanced Lateral Tuning"), tr("<b>Advanced steering control changes to fine-tune how openpilot drives.</b>"), "../../frogpilot/assets/toggle_icons/icon_advanced_lateral_tune.png"},
{"SteerDelay", steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
{"SteerFriction", friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
{"SteerKP", steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
{"SteerLatAccel", latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
{"SteerRatio", steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
{"SteerDelay", parent->steerActuatorDelay != 0 ? QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)) : tr("Actuator Delay"), tr("<b>The time between openpilot's steering command and the vehicle's response.</b> Increase if the vehicle reacts late; decrease if it feels jumpy. Auto-learned by default."), ""},
{"SteerFriction", parent->friction != 0 ? QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)) : tr("Friction"), tr("<b>Compensates for steering friction.</b> Increase if the wheel sticks near center; decrease if it jitters. Auto-learned by default."), ""},
{"SteerKP", parent->steerKp != 0 ? QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)) : tr("Kp Factor"), tr("<b>How strongly openpilot corrects lane position.</b> Higher is tighter but twitchier; lower is smoother but slower. Auto-learned by default."), ""},
{"SteerLatAccel", parent->latAccelFactor != 0 ? QString(tr("Lateral Acceleration (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)) : tr("Lateral Acceleration"), tr("<b>Maps steering torque to turning response.</b> Increase for sharper turns; decrease for gentler steering. Auto-learned by default."), ""},
{"SteerRatio", parent->steerRatio != 0 ? QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)) : tr("Steer Ratio"), tr("<b>The relationship between steering wheel rotation and road wheel angle.</b> Increase if steering feels too quick or twitchy; decrease if it feels too slow or weak. Auto-learned by default."), ""},
{"ForceAutoTune", tr("Force Auto-Tune On"), tr("<b>Force-enable openpilot's live auto-tuning for \"Friction\" and \"Lateral Acceleration\".</b>"), ""},
{"ForceAutoTuneOff", tr("Force Auto-Tune Off"), tr("<b>Force-disable openpilot's live auto-tuning for \"Friction\" and \"Lateral Acceleration\" and use the set value instead.</b>"), ""},
{"ForceTorqueController", tr("Force Torque Controller"), tr("<b>Use torque-based steering control instead of angle-based control for smoother lane keeping, especially in curves.</b>"), ""},
@@ -89,13 +89,13 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, 0, 0.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerFrictionButton, false, false);
} else if (param == "SteerKP") {
std::vector<QString> steerKPButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerKp * 0.5, steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerKp * 0.5, parent->steerKp * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerKPButton, false, false);
} else if (param == "SteerLatAccel") {
std::vector<QString> steerLatAccelButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, latAccelFactor * 0.75, latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25, QString(), std::map<float, QString>(), 0.01, false, {}, steerLatAccelButton, false, false);
} else if (param == "SteerRatio") {
std::vector<QString> steerRatioButton{"Reset"};
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, steerRatio * 0.5, steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
lateralToggle = new FrogPilotParamValueButtonControl(param, title, desc, icon, parent->steerRatio * 0.5, parent->steerRatio * 1.5, QString(), std::map<float, QString>(), 0.01, false, {}, steerRatioButton, false, false);
} else if (param == "AlwaysOnLateral") {
FrogPilotManageControl *aolToggle = new FrogPilotManageControl(param, title, desc, icon);
@@ -191,12 +191,6 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
if (FrogPilotConfirmationDialog::toggleReboot(this)) {
Hardware::reboot();
}
} else if (key == "NNFF" || key == "NNFFLite") {
if (!isTorqueCar) {
if (FrogPilotConfirmationDialog::toggleReboot(this)) {
Hardware::reboot();
}
}
} else if (key != "AlwaysOnLateral") {
if (FrogPilotConfirmationDialog::toggleReboot(this)) {
Hardware::reboot();
@@ -207,41 +201,41 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
}
steerDelayToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerDelay"]);
QObject::connect(steerDelayToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
QObject::connect(steerDelayToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Actuator Delay</b> to its default value?"), this)) {
params.putFloat("SteerDelay", steerActuatorDelay);
params.putFloat("SteerDelay", parent->steerActuatorDelay);
steerDelayToggle->refresh();
}
});
steerFrictionToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerFriction"]);
QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
QObject::connect(steerFrictionToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Friction</b> to its default value?"), this)) {
params.putFloat("SteerFriction", friction);
params.putFloat("SteerFriction", parent->friction);
steerFrictionToggle->refresh();
}
});
steerKPToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerKP"]);
QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
QObject::connect(steerKPToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Kp Factor</b> to its default value?"), this)) {
params.putFloat("SteerKP", steerKp);
params.putFloat("SteerKP", parent->steerKp);
steerKPToggle->refresh();
}
});
steerLatAccelToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerLatAccel"]);
QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
QObject::connect(steerLatAccelToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Lateral Accel</b> to its default value?"), this)) {
params.putFloat("SteerLatAccel", latAccelFactor);
params.putFloat("SteerLatAccel", parent->latAccelFactor);
steerLatAccelToggle->refresh();
}
});
steerRatioToggle = static_cast<FrogPilotParamValueButtonControl*>(toggles["SteerRatio"]);
QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [this]() {
QObject::connect(steerRatioToggle, &FrogPilotParamValueButtonControl::buttonClicked, [parent, this]() {
if (FrogPilotConfirmationDialog::yesorno(tr("Reset <b>Steer Ratio</b> to its default value?"), this)) {
params.putFloat("SteerRatio", steerRatio);
params.putFloat("SteerRatio", parent->steerRatio);
steerRatioToggle->refresh();
}
});
@@ -258,27 +252,15 @@ FrogPilotLateralPanel::FrogPilotLateralPanel(FrogPilotSettingsWindow *parent) :
void FrogPilotLateralPanel::showEvent(QShowEvent *event) {
frogpilotToggleLevels = parent->frogpilotToggleLevels;
friction = parent->friction;
hasAutoTune = parent->hasAutoTune;
hasNNFFLog = parent->hasNNFFLog;
hasOpenpilotLongitudinal = parent->hasOpenpilotLongitudinal;
isAngleCar = parent->isAngleCar;
isHKGCanFd = parent->isHKGCanFd;
isTorqueCar = parent->isTorqueCar;
latAccelFactor = parent->latAccelFactor;
steerActuatorDelay = parent->steerActuatorDelay;
steerKp = parent->steerKp;
steerRatio = parent->steerRatio;
tuningLevel = parent->tuningLevel;
steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(steerActuatorDelay, 'f', 2)));
steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(friction, 'f', 2)));
steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(steerKp, 'f', 2)));
steerKPToggle->updateControl(steerKp * 0.5, steerKp * 1.5);
steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(latAccelFactor, 'f', 2)));
steerLatAccelToggle->updateControl(latAccelFactor * 0.75, latAccelFactor * 1.25);
steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(steerRatio, 'f', 2)));
steerRatioToggle->updateControl(steerRatio * 0.5, steerRatio * 1.5);
steerDelayToggle->setTitle(QString(tr("Actuator Delay (Default: %1)")).arg(QString::number(parent->steerActuatorDelay, 'f', 2)));
steerFrictionToggle->setTitle(QString(tr("Friction (Default: %1)")).arg(QString::number(parent->friction, 'f', 2)));
steerKPToggle->setTitle(QString(tr("Kp Factor (Default: %1)")).arg(QString::number(parent->steerKp, 'f', 2)));
steerKPToggle->updateControl(parent->steerKp * 0.5, parent->steerKp * 1.5);
steerLatAccelToggle->setTitle(QString(tr("Lateral Accel (Default: %1)")).arg(QString::number(parent->latAccelFactor, 'f', 2)));
steerLatAccelToggle->updateControl(parent->latAccelFactor * 0.75, parent->latAccelFactor * 1.25);
steerRatioToggle->setTitle(QString(tr("Steer Ratio (Default: %1)")).arg(QString::number(parent->steerRatio, 'f', 2)));
steerRatioToggle->updateControl(parent->steerRatio * 0.5, parent->steerRatio * 1.5);
updateToggles();
}
@@ -358,41 +340,41 @@ void FrogPilotLateralPanel::updateToggles() {
}
}
bool forcingAutoTune = !hasAutoTune && params.getBool("ForceAutoTune");
bool forcingAutoTuneOff = hasAutoTune && params.getBool("ForceAutoTuneOff");
bool forcingTorqueController = !isAngleCar && params.getBool("ForceTorqueController");
bool usingNNFF = hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
bool forcingAutoTune = !parent->hasAutoTune && params.getBool("ForceAutoTune");
bool forcingAutoTuneOff = parent->hasAutoTune && params.getBool("ForceAutoTuneOff");
bool forcingTorqueController = !parent->isAngleCar && params.getBool("ForceTorqueController");
bool usingNNFF = parent->hasNNFFLog && params.getBool("LateralTune") && params.getBool("NNFF");
for (auto &[key, toggle] : toggles) {
if (parentKeys.contains(key)) {
continue;
}
bool setVisible = tuningLevel >= frogpilotToggleLevels[key].toDouble();
bool setVisible = parent->tuningLevel >= frogpilotToggleLevels[key].toDouble();
if (key == "AlwaysOnLateralLKAS") {
setVisible &= isHKGCanFd;
setVisible &= !hasOpenpilotLongitudinal;
setVisible &= parent->isHKGCanFd;
setVisible &= !parent->hasOpenpilotLongitudinal;
}
else if (key == "AlwaysOnLateralMain") {
setVisible &= !isHKGCanFd;
setVisible |= hasOpenpilotLongitudinal;
setVisible &= !parent->isHKGCanFd;
setVisible |= parent->hasOpenpilotLongitudinal;
}
else if (key == "ForceAutoTune") {
setVisible &= !hasAutoTune;
setVisible &= !isAngleCar;
setVisible &= isTorqueCar || forcingTorqueController;
setVisible &= !parent->hasAutoTune;
setVisible &= !parent->isAngleCar;
setVisible &= parent->isTorqueCar || forcingTorqueController;
}
else if (key == "ForceAutoTuneOff") {
setVisible &= hasAutoTune;
setVisible &= parent->hasAutoTune;
}
else if (key == "ForceTorqueController") {
setVisible &= !isAngleCar;
setVisible &= !isTorqueCar;
setVisible &= !parent->isAngleCar;
setVisible &= !parent->isTorqueCar;
}
else if (key == "LaneChangeTime") {
@@ -404,42 +386,41 @@ void FrogPilotLateralPanel::updateToggles() {
}
else if (key == "NNFF") {
setVisible &= hasNNFFLog;
setVisible &= !isAngleCar;
setVisible &= parent->hasNNFFLog;
setVisible &= !parent->isAngleCar;
}
else if (key == "NNFFLite") {
setVisible &= !usingNNFF;
setVisible &= !isAngleCar;
setVisible &= !parent->isAngleCar;
}
else if (key == "SteerDelay") {
setVisible &= steerActuatorDelay != 0;
setVisible &= parent->steerActuatorDelay != 0;
}
else if (key == "SteerFriction") {
setVisible &= friction != 0;
setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= isTorqueCar || forcingTorqueController;
setVisible &= parent->friction != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
else if (key == "SteerKP") {
setVisible &= steerKp != 0;
setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= isTorqueCar || forcingTorqueController;
setVisible &= parent->steerKp != 0;
setVisible &= !parent->isAngleCar;
}
else if (key == "SteerLatAccel") {
setVisible &= latAccelFactor != 0;
setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= isTorqueCar || forcingTorqueController;
setVisible &= parent->latAccelFactor != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->isTorqueCar || forcingTorqueController;
setVisible &= !usingNNFF;
}
else if (key == "SteerRatio") {
setVisible &= steerRatio != 0;
setVisible &= hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
setVisible &= parent->steerRatio != 0;
setVisible &= parent->hasAutoTune ? forcingAutoTuneOff : !forcingAutoTune;
}
toggle->setVisible(setVisible);
selfdrive/car/gm/interface.py
+1 -2
View File
@@ -207,7 +207,6 @@ class CarInterface(CarInterfaceBase):
elif candidate in (CAR.CHEVROLET_BOLT_EUV, CAR.CHEVROLET_BOLT_CC):
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.lateralTuning.torque.kp = 0.6
if ret.enableGasInterceptor:
# ACC Bolts use pedal for full longitudinal control, not just sng
@@ -279,7 +278,7 @@ class CarInterface(CarInterfaceBase):
# Note: Low speed, stop and go not tested. Should be fairly smooth on highway
ret.longitudinalTuning.kiBP = [0., 3., 6., 35.]
ret.longitudinalTuning.kiV = [0.125, 0.175, 0.225, 0.33]
ret.longitudinalTuning.kf = 0.25
ret.longitudinalTuning.kfDEPRECATED = 0.25
ret.stoppingDecelRate = 0.8
else: # Pedal used for SNG, ACC for longitudinal control otherwise
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
selfdrive/car/honda/carcontroller.py
+29 -3
View File
@@ -1,3 +1,4 @@
import math
from collections import namedtuple
from cereal import car
@@ -5,10 +6,12 @@ from openpilot.common.numpy_fast import clip, interp
from openpilot.common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
from openpilot.selfdrive.car import create_gas_interceptor_command
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.selfdrive.car.honda import hondacan
from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
from openpilot.selfdrive.car.interfaces import CarControllerBase
from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
from openpilot.selfdrive.controls.lib.pid import PIDController
VisualAlert = car.CarControl.HUDControl.VisualAlert
LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -125,6 +128,10 @@ class CarController(CarControllerBase):
self.gas = 0.0
self.brake = 0.0
self.last_steer = 0.0
self.pitch = 0.0
self.gasonly_pid = PIDController(k_p=([0,], [0,]),
k_i=([0., 5., 35.], [1.2, 0.8, 0.5]),
rate=1 / DT_CTRL / 2)
def update(self, CC, CS, now_nanos, frogpilot_toggles):
actuators = CC.actuators
@@ -133,6 +140,9 @@ class CarController(CarControllerBase):
hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
pcm_cancel_cmd = CC.cruiseControl.cancel
if len(CC.orientationNED) == 3:
self.pitch = CC.orientationNED[1]
if CC.longActive:
accel = actuators.accel
gas, brake = compute_gas_brake(actuators.accel, CS.out.vEgo, self.CP.carFingerprint)
@@ -173,8 +183,11 @@ class CarController(CarControllerBase):
CS.CP.openpilotLongitudinalControl))
# wind brake from air resistance decel at high speed
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
wind_brake_ms2 = interp(CS.out.vEgo, [0.0, 13.4, 22.4, 31.3, 40.2], [0.000, 0.049, 0.136, 0.267, 0.441]) # in m/s2 units
hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
# all of this is only relevant for HONDA NIDEC
wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15]) # not in m/s2 units
max_accel = interp(CS.out.vEgo, self.params.NIDEC_MAX_ACCEL_BP, self.params.NIDEC_MAX_ACCEL_V)
# TODO this 1.44 is just to maintain previous behavior
pcm_speed_BP = [-wind_brake,
@@ -217,12 +230,25 @@ class CarController(CarControllerBase):
if self.CP.carFingerprint in HONDA_BOSCH:
self.accel = clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX)
self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
gas_pedal_force = self.accel # radarless does not need a pid
elif (actuators.longControlState == LongCtrlState.pid) and not CS.out.gasPressed: # perform a gas-only pid
gas_error = self.accel - CS.out.aEgo
self.gasonly_pid.neg_limit = self.params.BOSCH_ACCEL_MIN
self.gasonly_pid.pos_limit = self.params.BOSCH_ACCEL_MAX
gas_pedal_force = self.gasonly_pid.update(gas_error, speed=CS.out.vEgo, feedforward=self.accel)
gas_pedal_force += wind_brake_ms2 + hill_brake
else:
gas_pedal_force = self.accel
self.gasonly_pid.reset()
gas_pedal_force += wind_brake_ms2 + hill_brake
self.gas = interp(gas_pedal_force, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas,
self.stopping_counter, self.CP.carFingerprint))
self.stopping_counter, self.CP.carFingerprint, accel + wind_brake_ms2 + hill_brake))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
selfdrive/car/interfaces.py
+5 -13
View File
@@ -155,6 +155,11 @@ class CarInterfaceBase(ABC):
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
# FrogPilot variables
toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
if ret.steerControlType != car.CarParams.SteerControlType.angle and any(getattr(frogpilot_toggles, toggle, False) for toggle in toggles_to_check):
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
return ret
@classmethod
@@ -217,14 +222,6 @@ class CarInterfaceBase(ABC):
fp_ret.canUsePedal = not CP.autoResumeSng
fp_ret.canUseSDSU = not CP.enableDsu and candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
if CP.steerControlType != car.CarParams.SteerControlType.angle:
if CP.lateralTuning.which() == "pid" and (frogpilot_toggles.force_torque_controller or frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite):
CarInterfaceBase.configure_torque_tune(candidate, fp_ret.lateralTuning)
elif CP.lateralTuning.which() == "torque":
CarInterfaceBase.configure_torque_tune(candidate, fp_ret.lateralTuning)
else:
fp_ret.lateralTuning.init("pid")
fp_ret.openpilotLongitudinalControlDisabled = frogpilot_toggles.disable_openpilot_long
return fp_ret
@@ -286,7 +283,6 @@ class CarInterfaceBase(ABC):
ret.vEgoStopping = 0.5
ret.vEgoStarting = 0.5
ret.stoppingControl = True
ret.longitudinalTuning.kf = 1.
ret.longitudinalTuning.kpBP = [0.]
ret.longitudinalTuning.kpV = [0.]
ret.longitudinalTuning.kiBP = [0.]
@@ -302,10 +298,6 @@ class CarInterfaceBase(ABC):
tune.init('torque')
tune.torque.useSteeringAngle = use_steering_angle
tune.torque.kf = 0.95
tune.torque.kp = 0.6
tune.torque.ki = 0.3
tune.torque.kd = 0.3
tune.torque.friction = params['FRICTION']
tune.torque.latAccelFactor = params['LAT_ACCEL_FACTOR']
tune.torque.latAccelOffset = 0.0
selfdrive/car/toyota/carcontroller.py
+1 -1
View File
@@ -53,7 +53,7 @@ def get_long_tune(CP, params):
kiBP = [2., 5.]
kiV = [0.5, 0.25]
return PIDController(0.0, (kiBP, kiV), k_f=1.0,
return PIDController(0.0, (kiBP, kiV),
pos_limit=params.ACCEL_MAX, neg_limit=params.ACCEL_MIN,
rate=1 / (DT_CTRL * 3))
selfdrive/controls/controlsd.py
+12 -7
View File
@@ -34,6 +34,7 @@ from openpilot.frogpilot.tinygrad_modeld.tinygrad_modeld import LAT_SMOOTH_SECON
from openpilot.system.hardware import HARDWARE
from openpilot.frogpilot.common.frogpilot_variables import get_frogpilot_toggles, params_memory
from openpilot.frogpilot.controls.lib.neural_network_feedforward import LatControlNNFF
SOFT_DISABLE_TIME = 3 # seconds
LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -137,10 +138,10 @@ class Controls:
self.LaC: LatControl
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
self.LaC = LatControlAngle(self.CP, self.CI, DT_CTRL)
elif self.FPCP.lateralTuning.which() == 'pid':
elif self.CP.lateralTuning.which() == 'pid':
self.LaC = LatControlPID(self.CP, self.CI, DT_CTRL)
elif self.FPCP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.FPCP, self.CI, DT_CTRL)
elif self.CP.lateralTuning.which() == 'torque':
self.LaC = LatControlTorque(self.CP, self.CI, DT_CTRL)
self.initialized = False
self.state = State.disabled
@@ -205,6 +206,10 @@ class Controls:
self.frogpilot_toggles = get_frogpilot_toggles()
if self.CP.lateralTuning.which() == "torque" and (self.frogpilot_toggles.nnff or self.frogpilot_toggles.nnff_lite):
self.LaC = LatControlNNFF(self.CP, self.CI, DT_CTRL)
self.frogpilot_toggles.is_metric = self.is_metric
def set_initial_state(self):
@@ -616,14 +621,14 @@ class Controls:
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
# Update Torque Params
if self.FPCP.lateralTuning.which() == 'torque':
if self.CP.lateralTuning.which() == 'torque':
torque_params = self.sm['liveTorqueParameters']
if self.sm.all_checks(['liveTorqueParameters']) and (torque_params.useParams or self.frogpilot_toggles.force_auto_tune):
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
torque_params.frictionCoefficientFiltered)
if self.sm.updated['liveDelay'] and (self.frogpilot_toggles.nnff or self.frogpilot_toggles.nnff_lite):
self.LaC.nnff.update_live_delay(self.sm['liveDelay'].lateralDelay)
if self.sm.updated['liveDelay'] and hasattr(self.LaC, "update_live_delay"):
self.LaC.update_live_delay(self.sm['liveDelay'].lateralDelay)
long_plan = self.sm['longitudinalPlan']
model_v2 = self.sm['modelV2']
@@ -892,7 +897,7 @@ class Controls:
controlsState.experimentalMode = self.experimental_mode
controlsState.personality = self.personality
lat_tuning = self.FPCP.lateralTuning.which()
lat_tuning = self.CP.lateralTuning.which()
if self.joystick_mode:
controlsState.lateralControlState.debugState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
selfdrive/controls/lib/drive_helpers.py
+1 -1
View File
@@ -189,7 +189,7 @@ def smooth_value(val, prev_val, tau, dt=DT_MDL):
alpha = 1 - np.exp(-dt/tau) if tau > 0 else 1
return alpha * val + (1 - alpha) * prev_val
def clip_curvature(v_ego, prev_curvature, new_curvature, roll):
def clip_curvature(v_ego, prev_curvature, new_curvature, roll) -> tuple[float, bool]:
# This function respects ISO lateral jerk and acceleration limits + a max curvature
v_ego = max(v_ego, MIN_SPEED)
max_curvature_rate = MAX_LATERAL_JERK / (v_ego ** 2) # inexact calculation, check https://github.com/commaai/openpilot/pull/24755
selfdrive/controls/lib/latcontrol_pid.py
+3 -2
View File
@@ -10,7 +10,8 @@ class LatControlPID(LatControl):
super().__init__(CP, CI, dt)
self.pid = PIDController((CP.lateralTuning.pid.kpBP, CP.lateralTuning.pid.kpV),
(CP.lateralTuning.pid.kiBP, CP.lateralTuning.pid.kiV),
k_f=CP.lateralTuning.pid.kf, pos_limit=self.steer_max, neg_limit=-self.steer_max)
pos_limit=self.steer_max, neg_limit=-self.steer_max)
self.ff_factor = CP.lateralTuning.pid.kf
self.get_steer_feedforward = CI.get_steer_feedforward_function()
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
@@ -30,7 +31,7 @@ class LatControlPID(LatControl):
else:
# offset does not contribute to resistive torque
ff = self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
ff = self.ff_factor * self.get_steer_feedforward(angle_steers_des_no_offset, CS.vEgo)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(error,
selfdrive/controls/lib/latcontrol_torque.py
+36 -52
View File
@@ -4,50 +4,46 @@ from collections import deque
from cereal import log
from openpilot.common.filter_simple import FirstOrderFilter
from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
from openpilot.selfdrive.car.interfaces import FRICTION_THRESHOLD
from openpilot.selfdrive.controls.lib.drive_helpers import MIN_SPEED, get_friction
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
from openpilot.selfdrive.controls.lib.pid import PIDController
from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
from openpilot.frogpilot.controls.lib.neural_network_feedforward import LOW_SPEED_Y_NN, NeuralNetworkFeedforward
# At higher speeds (25+mph) we can assume:
# Lateral acceleration achieved by a specific car correlates to
# torque applied to the steering rack. It does not correlate to
# wheel slip, or to speed.
# This controller applies torque to achieve desired lateral
# accelerations. To compensate for the low speed effects we
# use a LOW_SPEED_FACTOR in the error. Additionally, there is
# friction in the steering wheel that needs to be overcome to
# move it at all, this is compensated for too.
# accelerations. To compensate for the low speed effects the
# proportional gain is increased at low speeds by the PID controller.
# Additionally, there is friction in the steering wheel that needs
# to be overcome to move it at all, this is compensated for too.
MAX_LAT_JERK_UP = 2.5 # m/s^3
LOW_SPEED_X = [0, 10, 20, 30]
LOW_SPEED_Y = [15, 13, 10, 5]
KP = 0.6
KI = 0.3
KD = 0.0
INTERP_SPEEDS = [1, 1.5, 2.0, 3.0, 5, 7.5, 10, 15, 30]
KP_INTERP = [250, 120, 65, 30, 11.5, 5.5, 3.5, 2.0, KP]
LP_FILTER_CUTOFF_HZ = 1.2
LAT_ACCEL_REQUEST_BUFFER_SECONDS = 1.0
VERSION = 0
class LatControlTorque(LatControl):
def __init__(self, CP, FPCP, CI, dt):
def __init__(self, CP, CI, dt):
super().__init__(CP, CI, dt)
self.torque_params = FPCP.lateralTuning.torque
self.torque_params = CP.lateralTuning.torque
self.torque_from_lateral_accel = CI.torque_from_lateral_accel()
self.lateral_accel_from_torque = CI.lateral_accel_from_torque()
self.pid = PIDController(self.torque_params.kp, self.torque_params.ki,
k_f=self.torque_params.kf, rate=1/self.dt)
self.pid = PIDController([INTERP_SPEEDS, KP_INTERP], KI, KD, rate=1/self.dt)
self.update_limits()
self.steering_angle_deadzone_deg = self.torque_params.steeringAngleDeadzoneDeg
self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES = int(1 / self.dt)
self.requested_lateral_accel_buffer = deque([0.] * self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES , maxlen=self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES)
self.lat_accel_request_buffer_len = int(LAT_ACCEL_REQUEST_BUFFER_SECONDS / self.dt)
self.lat_accel_request_buffer = deque([0.] * self.lat_accel_request_buffer_len , maxlen=self.lat_accel_request_buffer_len)
self.previous_measurement = 0.0
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * (MAX_LAT_JERK_UP - 0.5)), self.dt)
# FrogPilot variables
self.nnff = NeuralNetworkFeedforward(CP, self)
self.nnff_loaded = self.nnff.lat_torque_nn_model != None
self.measurement_rate_filter = FirstOrderFilter(0.0, 1 / (2 * np.pi * LP_FILTER_CUTOFF_HZ), self.dt)
def update_live_torque_params(self, latAccelFactor, latAccelOffset, friction):
self.torque_params.latAccelFactor = latAccelFactor
@@ -61,6 +57,7 @@ class LatControlTorque(LatControl):
def update(self, active, CS, VM, params, steer_limited_by_safety, desired_curvature, curvature_limited, lat_delay, llk, model_data, frogpilot_toggles):
pid_log = log.ControlsState.LateralTorqueState.new_message()
pid_log.version = VERSION
if not active:
output_torque = 0.0
pid_log.active = False
@@ -70,11 +67,11 @@ class LatControlTorque(LatControl):
curvature_deadzone = abs(VM.calc_curvature(math.radians(self.steering_angle_deadzone_deg), CS.vEgo, 0.0))
lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.LATACCEL_REQUEST_BUFFER_NUM_FRAMES))
expected_lateral_accel = self.requested_lateral_accel_buffer[-delay_frames]
delay_frames = int(np.clip(lat_delay / self.dt, 1, self.lat_accel_request_buffer_len))
expected_lateral_accel = self.lat_accel_request_buffer[-delay_frames]
# TODO factor out lateral jerk from error to later replace it with delay independent alternative
future_desired_lateral_accel = desired_curvature * CS.vEgo ** 2
self.requested_lateral_accel_buffer.append(future_desired_lateral_accel)
self.lat_accel_request_buffer.append(future_desired_lateral_accel)
gravity_adjusted_future_lateral_accel = future_desired_lateral_accel - roll_compensation
desired_lateral_jerk = (future_desired_lateral_accel - expected_lateral_accel) / lat_delay
@@ -82,47 +79,34 @@ class LatControlTorque(LatControl):
measurement_rate = self.measurement_rate_filter.update((measurement - self.previous_measurement) / self.dt)
self.previous_measurement = measurement
low_speed_factor = (np.interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y_NN if frogpilot_toggles.nnff else LOW_SPEED_Y) / max(CS.vEgo, MIN_SPEED)) ** 2
setpoint = lat_delay * desired_lateral_jerk + expected_lateral_accel
error = setpoint - measurement
error_lsf = error + low_speed_factor / self.torque_params.kp * error
if self.nnff_loaded and frogpilot_toggles.nnff or frogpilot_toggles.nnff_lite:
pid_log, ff = self.nnff.compute_nnff(
CS, VM, measurement, error, future_desired_lateral_accel, gravity_adjusted_future_lateral_accel,
llk, measurement, model_data, params, pid_log, setpoint, frogpilot_toggles
)
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error)
ff = gravity_adjusted_future_lateral_accel
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
# TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_torque = self.pid.update(pid_log.error,
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_lataccel = self.pid.update(pid_log.error,
-measurement_rate,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
else:
# do error correction in lateral acceleration space, convert at end to handle non-linear torque responses correctly
pid_log.error = float(error_lsf)
ff = gravity_adjusted_future_lateral_accel
# latAccelOffset corrects roll compensation bias from device roll misalignment relative to car roll
ff -= self.torque_params.latAccelOffset
# TODO jerk is weighted by lat_delay for legacy reasons, but should be made independent of it
ff += get_friction(error, lateral_accel_deadzone, FRICTION_THRESHOLD, self.torque_params)
freeze_integrator = steer_limited_by_safety or CS.steeringPressed or CS.vEgo < 5
output_lataccel = self.pid.update(pid_log.error,
-measurement_rate,
feedforward=ff,
speed=CS.vEgo,
freeze_integrator=freeze_integrator)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
output_torque = self.torque_from_lateral_accel(output_lataccel, self.torque_params)
pid_log.active = True
pid_log.p = float(self.pid.p)
pid_log.i = float(self.pid.i)
pid_log.d = float(self.pid.d)
pid_log.f = float(self.pid.f)
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.output = float(-output_torque) # TODO: log lat accel?
pid_log.actualLateralAccel = float(measurement)
pid_log.desiredLateralAccel = float(setpoint)
pid_log.desiredLateralJerk = float(desired_lateral_jerk)
pid_log.saturated = bool(self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited_by_safety, curvature_limited))
# TODO left is positive in this convention
selfdrive/controls/lib/longcontrol.py
+8 -4
View File
@@ -95,8 +95,10 @@ class LongControl:
pos_p_limit = 0.0 # if params("NoPositivePResponse") else None # put parameter-based control here
self.pid = PIDController((CP.longitudinalTuning.kpBP, CP.longitudinalTuning.kpV),
(CP.longitudinalTuning.kiBP, CP.longitudinalTuning.kiV),
k_f=CP.longitudinalTuning.kf, rate=1 / DT_CTRL,
pos_p_limit=pos_p_limit)
rate=1 / DT_CTRL, pos_p_limit=pos_p_limit)
# Preserve legacy behaviour when no feedforward gain is provided (default of 0.0)
kf = getattr(CP.longitudinalTuning, 'kfDEPRECATED', 0.0)
self.feedforward_gain = kf if kf != 0.0 else 1.0
self.v_pid = 0.0
self._mode_setup()
self.last_output_accel = 0.0
@@ -159,7 +161,8 @@ class LongControl:
else: # LongCtrlState.pid
error = a_target - CS.aEgo
self.update_mpc_mode(self.experimental_mode)
raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=a_target)
feedforward = a_target * self.feedforward_gain
raw_output_accel = self.pid.update(error, speed=CS.vEgo, feedforward=feedforward)
if self.transitioning and self.prev_mode == 'acc' and self.current_mode == 'blended':
@@ -236,8 +239,9 @@ class LongControl:
error = self.v_pid - CS.vEgo
error_deadzone = apply_deadzone(error, deadzone)
feedforward = a_target * self.feedforward_gain
output_accel = self.pid.update(error_deadzone, speed=CS.vEgo,
feedforward=a_target,
feedforward=feedforward,
freeze_integrator=freeze_integrator)
self.last_output_accel = clip(output_accel, accel_limits[0], accel_limits[1])
selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+37 -9
View File
@@ -302,6 +302,9 @@ class LongitudinalMpc:
self.current_filter_time = LEAD_FILTER_TIME_LOW
self.lead_a_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
self.lead_v_filter = FirstOrderFilter(0.0, self.current_filter_time, self.dt)
# Slew-limited filter factor to avoid abrupt 0.50↔1.00 jumps
self.filter_time_factor = 1.0
self.slew_per_sec = 1.0
# Instance variables to avoid global modifications
self.current_x_ego_cost = X_EGO_OBSTACLE_COSTS[0]
self.current_j_ego_cost = J_EGO_COSTS[0]
@@ -357,7 +360,9 @@ class LongitudinalMpc:
for i in range(N):
self.solver.cost_set(i, 'Zl', Zl)
def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0, uncertainty=0.0):
def set_weights(self, acceleration_jerk=1.0, danger_jerk=1.0, speed_jerk=1.0, prev_accel_constraint=True,
personality=log.LongitudinalPersonality.standard, v_ego=0.0, lead_dist=50.0,
uncertainty=0.0, accel_reengage=False, panic_bypass=False):
# Update parameters based on current speed with interpolation for smooth scaling
speed_mph = v_ego * CV.MS_TO_MPH # Convert m/s to mph
@@ -371,10 +376,10 @@ class LongitudinalMpc:
self.current_dist_adapt = get_speed_based_param(speed_mph, dist_adapt_array)
# Update filter time constants with interp and recreate filters if needed
if speed_mph < 35:
if speed_mph < 47:
self.current_filter_time = 0.0
else:
self.current_filter_time = interp(speed_mph, [35, 45], [0.0, LEAD_FILTER_TIME_HIGH])
self.current_filter_time = interp(speed_mph, [47, 65], [0.0, LEAD_FILTER_TIME_HIGH])
if abs(self.current_filter_time - getattr(self, 'prev_filter_time', 0)) > 0.1: # Only update if significant change
# Recreate filters with new time constant while preserving current values
current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
@@ -390,12 +395,35 @@ class LongitudinalMpc:
speed_jerk *= dist_factor
# Scene complexity adjustment based on model uncertainty
complexity_factor = 1.0
filter_time_factor = 1.0
prev_filter_time_factor = getattr(self, 'prev_filter_time_factor', 1.0)
# Target factor from uncertainty
if uncertainty <= 0.45:
tgt_factor = 1.0
elif uncertainty >= 0.70:
tgt_factor = 0.0
else:
tgt_factor = float(np.interp(uncertainty, [0.45, 0.70], [1.0, 0.30]))
if uncertainty > 1.0: # High uncertainty indicates complex scene
complexity_factor = 1.5 # Boost responsiveness
filter_time_factor = 0.0 # Disable smoothing for immediate response
if accel_reengage:
tgt_factor = min(tgt_factor, 0.5)
# Hard bypass of smoothing when approaching fast or magnitude trips
if panic_bypass:
tgt_factor = 0.0
# Slew-limit changes to avoid step-wise filter jumps
max_step = self.slew_per_sec * self.dt
delta = np.clip(tgt_factor - self.filter_time_factor, -max_step, max_step)
self.filter_time_factor += float(delta)
filter_time_factor = float(self.filter_time_factor)
# When uncertainty is moderately elevated, allow accel but cap jerk by increasing jerk cost
if 0.45 <= uncertainty < 0.60:
scale = float(np.interp(uncertainty, [0.45, 0.60], [1.2, 1.5]))
speed_jerk *= scale
if abs(filter_time_factor - prev_filter_time_factor) > 1e-3:
cloudlog.error(f"LON_FILTER; filter_time_factor={filter_time_factor:.2f}; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f} mps; lead_dist={lead_dist:.2f} m; accel_reengage={accel_reengage}")
if self.mode == 'acc':
a_change_cost = acceleration_jerk if prev_accel_constraint else 0
@@ -410,7 +438,7 @@ class LongitudinalMpc:
self.set_cost_weights(cost_weights, constraint_cost_weights)
# Adjust filter time constants for complex scenes
if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.1:
if abs(filter_time_factor - getattr(self, 'prev_filter_time_factor', 1.0)) > 0.05:
current_a = self.lead_a_filter.x if hasattr(self.lead_a_filter, 'x') else 0.0
current_v = self.lead_v_filter.x if hasattr(self.lead_v_filter, 'x') else 0.0
new_filter_time = self.current_filter_time * filter_time_factor
selfdrive/controls/lib/longitudinal_planner.py
+186 -9
View File
@@ -1,6 +1,7 @@
#!/usr/bin/env python3
import math
import numpy as np
import time
from openpilot.common.numpy_fast import clip, interp
import cereal.messaging as messaging
@@ -23,6 +24,10 @@ CONTROL_N_T_IDX = ModelConstants.T_IDXS[:CONTROL_N]
ALLOW_THROTTLE_THRESHOLD = 0.5
MIN_ALLOW_THROTTLE_SPEED = 2.5
# Uncertainty-based filter disable thresholds
UNCERT_SLOPE_TRIG = 0.12 # per second
UNCERT_MAG_TRIG = 0.50
# Lookup table for turns
_A_TOTAL_MAX_V = [1.7, 3.2]
_A_TOTAL_MAX_BP = [20., 40.]
@@ -106,6 +111,30 @@ class LongitudinalPlanner:
self.a_desired_trajectory = np.zeros(CONTROL_N)
self.j_desired_trajectory = np.zeros(CONTROL_N)
self.solverExecutionTime = 0.0
# logging cadence & state
self.last_uncert_log_t = 0.0
self.prev_uncert_over = False
# ---- Rubberband mitigation state ----
# Two uncertainty tracks (slow/fast) for asymmetric gating
self.uncert_slow = FirstOrderFilter(0.0, 1.6, self.dt) # ~lam=0.6
self.uncert_fast = FirstOrderFilter(0.0, 0.9, self.dt) # faster cool-down for accel decisions
# Lead stability tracking
self.prev_lead_dist = None
self.last_big_brake_t = 0.0
self.stable_lead = False
# Temporary accel nudge window
self.accel_nudge_until = 0.0
# Hysteresis gate + dwell for accel re-engage and smoothed lead distance
self.accel_gate = False
self._t_arm = 0.0
self._t_disarm = 0.0
self.lead_dist_f = None
# Uncertainty slope tracking
self._uncert_last = 0.0
self._uncert_last_t = None
@property
def mlsim(self):
@@ -199,6 +228,7 @@ class LongitudinalPlanner:
x, v, a, j, throttle_prob = self.parse_model(sm['modelV2'], self.v_model_error, v_ego, frogpilot_toggles.taco_tune)
# Don't clip at low speeds since throttle_prob doesn't account for creep
self.allow_throttle = throttle_prob > ALLOW_THROTTLE_THRESHOLD or v_ego <= MIN_ALLOW_THROTTLE_SPEED
self.allow_throttle &= not sm['frogpilotPlan'].disableThrottle
if not self.allow_throttle:
clipped_accel_coast = max(accel_coast, accel_limits_turns[0])
@@ -216,31 +246,157 @@ class LongitudinalPlanner:
lead_dist = self.lead_one.dRel if self.lead_one.status else 50.0
# Smooth lead distance (EMA) to avoid chatter in thresholds
alpha = max(0.02, min(0.15, 0.05 + 0.002 * v_ego))
if self.lead_dist_f is None:
self.lead_dist_f = float(lead_dist)
else:
self.lead_dist_f += alpha * (float(lead_dist) - self.lead_dist_f)
# Lead stability estimation and recent-brake timer
now_t = time.monotonic()
# relative speed (ego - lead) positive when closing
v_rel = (v_ego - self.lead_one.vLead) if self.lead_one.status else 0.0
if self.prev_lead_dist is None:
d_rel_dot = 0.0
else:
d_rel_dot = (lead_dist - self.prev_lead_dist) / max(self.dt, 1e-3)
self.prev_lead_dist = lead_dist
# Remember time of last non-trivial model brake risk
if 'raw_brake_max' in locals() and raw_brake_max is not None and raw_brake_max > 0.02:
self.last_big_brake_t = now_t
# Stable lead heuristic (short window, cheap to compute)
recently_braked = (now_t - self.last_big_brake_t) < 0.7
self.stable_lead = (
self.lead_one.status and
abs(v_rel) < 0.5 and
abs(d_rel_dot) < 0.5 and
not recently_braked
)
# Calculate scene uncertainty from model desire prediction entropy and disengage predictions
uncertainty = 0.0
if hasattr(sm['modelV2'], 'meta'):
# Desire prediction entropy (maneuver uncertainty)
# Desire prediction entropy (maneuver uncertainty), normalized to [0, 1]
desire_entropy = 0.0
if hasattr(sm['modelV2'].meta, 'desirePrediction'):
desire_probs = sm['modelV2'].meta.desirePrediction
if len(desire_probs) > 1:
desire_probs = np.array(desire_probs)
desire_probs = desire_probs / np.sum(desire_probs) # Normalize
desire_entropy = -np.sum(desire_probs * np.log(desire_probs + 1e-10))
probs = np.asarray(desire_probs, dtype=float)
total = float(np.sum(probs))
if total > 1e-6:
p = probs / total
entropy = -np.sum(p * np.log(p + 1e-10))
max_entropy = np.log(len(p))
desire_entropy = float(entropy / max(max_entropy, 1e-6)) # normalized entropy in [0,1]
else:
desire_entropy = 0.0 # guard against all-zero vector
# Disengage prediction risk (intervention likelihood)
disengage_risk = 0.0
raw_brake_max = -1.0
lam = -1.0
if hasattr(sm['modelV2'].meta, 'disengagePredictions'):
# Use brake press probabilities as primary risk indicator
brake_probs = sm['modelV2'].meta.disengagePredictions.brakePressProbs
if len(brake_probs) > 0:
disengage_risk = np.max(brake_probs) # Peak risk over time horizon
# Exponentially decayed max over the full horizon
probs = np.asarray(brake_probs, dtype=float)
# Clip tiny brake blips so they don't inflate uncertainty
if float(np.max(probs)) < 0.015:
probs = probs * 0.5
raw_brake_max = float(np.max(probs))
# Time vector assuming model horizon step = DT_MDL
t = np.arange(len(probs), dtype=float) * DT_MDL
lam = 0.6 # decay rate per second (tunable: 0.5–0.9 typical)
weights = np.exp(-lam * t)
disengage_risk = float(np.max(probs * weights))
# Combined uncertainty metric
uncertainty = desire_entropy + disengage_risk
# Combined uncertainty metric (range roughly 0..2), with dual-track filtering
raw_uncertainty = desire_entropy + disengage_risk
# Update filters
self.uncert_slow.update(raw_uncertainty)
self.uncert_fast.update(raw_uncertainty)
# Use a more permissive track for accel decisions
uncertainty = self.uncert_slow.x
uncertainty_accel = min(self.uncert_slow.x, self.uncert_fast.x)
self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk, sm['frogpilotPlan'].dangerJerk, sm['frogpilotPlan'].speedJerk, prev_accel_constraint,
personality=sm['controlsState'].personality, v_ego=v_ego, lead_dist=lead_dist, uncertainty=uncertainty)
# --- Slope-based panic bypass ---
if self._uncert_last_t is None:
uncert_slope = 0.0
else:
dt_u = max(1e-3, now_t - self._uncert_last_t)
uncert_slope = (uncertainty - self._uncert_last) / dt_u
self._uncert_last = uncertainty
self._uncert_last_t = now_t
closing_fast = (self.lead_one.status and (v_ego - self.lead_one.vLead) > 0.5)
# Trigger if either slope is high or magnitude is high; require a valid lead and closing
panic_bypass = closing_fast and (uncert_slope > UNCERT_SLOPE_TRIG or uncertainty >= UNCERT_MAG_TRIG)
if panic_bypass:
try:
cloudlog.error(f"LON_SLOPE; slope={uncert_slope:.3f}/s; uncertainty={uncertainty:.3f}; v_ego={v_ego:.2f}; v_rel={(v_ego - self.lead_one.vLead) if self.lead_one.status else 0.0:.2f}; lead_dist={self.lead_dist_f if self.lead_dist_f is not None else -1:.2f}; trigger=True")
except Exception:
pass
# now_t defined earlier
over = uncertainty > 1.0
# Log on threshold edge or at ~1 Hz
if over != self.prev_uncert_over or (now_t - self.last_uncert_log_t) > 1.0:
try:
cloudlog.error(
f"LON_UNCERT; v_ego={v_ego:.2f} mps; desireEntropy={desire_entropy:.3f}; "
f"brakeRawMax={(raw_brake_max if 'raw_brake_max' in locals() else -1.0):.3f}; "
f"brakeDecayed={(disengage_risk if 'disengage_risk' in locals() else -1.0):.3f}; "
f"lam={(lam if 'lam' in locals() else -1.0):.2f}; uncertainty={uncertainty:.3f}; over={over}"
)
except Exception as e:
cloudlog.warning(f"LON_UNCERT log error: {e}")
self.prev_uncert_over = over
self.last_uncert_log_t = now_t
# Asymmetric accel release with hysteresis + dwell to prevent on/off pulsing
rise_dwell_s, fall_dwell_s = 0.6, 0.4
good = (
(self.a_desired > 0.0) and
self.stable_lead and
(uncertainty <= 0.425) and
(desire_entropy < 0.41)
)
# dwell timers for robust gating
if good and not self.accel_gate:
if now_t - self._t_arm >= rise_dwell_s:
self.accel_gate = True
else:
self._t_arm = now_t
if (not good) and self.accel_gate:
if now_t - self._t_disarm >= fall_dwell_s:
self.accel_gate = False
else:
self._t_disarm = now_t
if self.accel_gate:
# Ensure some positive headroom for MPC to exit coasting
accel_limits_turns[1] = max(accel_limits_turns[1], 0.2)
# Short self-canceling nudge to unstick (applied post-MPC)
if now_t > self.accel_nudge_until:
self.accel_nudge_until = now_t + 0.45
self.mpc.set_weights(sm['frogpilotPlan'].accelerationJerk,
sm['frogpilotPlan'].dangerJerk,
sm['frogpilotPlan'].speedJerk,
prev_accel_constraint,
personality=sm['controlsState'].personality,
v_ego=v_ego,
lead_dist=self.lead_dist_f if self.lead_dist_f is not None else lead_dist,
uncertainty=uncertainty,
accel_reengage=self.accel_gate,
panic_bypass=panic_bypass)
self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
# After deciding the MPC mode via get_mpc_mode(), ensure MPC uses that mode when not mlsim
@@ -273,6 +429,27 @@ class LongitudinalPlanner:
self.a_desired = float(interp(self.dt, CONTROL_N_T_IDX, self.a_desired_trajectory))
self.v_desired_filter.x = self.v_desired_filter.x + self.dt * (self.a_desired + a_prev) / 2.0
# Anticipatory pre-brake to avoid "coming in hot" when closing on a lead
if self.lead_one.status:
rel_v = max(0.0, v_ego - self.lead_one.vLead)
# dynamic time headway adds a small buffer when uncertainty is elevated
base_th = 1.6
th = base_th + 0.6 * max(0.0, uncertainty - 0.42)
desired_gap = th * v_ego
if (self.lead_dist_f is not None and self.lead_dist_f < desired_gap and rel_v > 0.5):
k_rel, k_unc = 0.04, 0.20
pre_brake = k_rel * rel_v + k_unc * max(0.0, uncertainty - 0.42)
pre_brake = min(pre_brake, 0.06)
self.a_desired = float(self.a_desired - pre_brake)
# Apply tiny feed-forward nudge when released and safe
if now_t < self.accel_nudge_until and self.a_desired > -0.1:
self.a_desired = float(min(self.a_desired + 0.12, get_max_accel(v_ego)))
# Small deadzone around zero accel to kill micro-dithers
if -0.05 < self.a_desired < 0.05:
self.a_desired = 0.0
def publish(self, classic_model, tinygrad_model, sm, pm, frogpilot_toggles):
plan_send = messaging.new_message('longitudinalPlan')
selfdrive/controls/lib/pid.py
+19 -42
View File
@@ -1,17 +1,11 @@
import numpy as np
from numbers import Number
from openpilot.common.numpy_fast import clip, interp
class PIDController:
def __init__(self, k_p, k_i, k_f=0., k_d=0.,
pos_limit=1e308, neg_limit=-1e308, rate=100,
pos_p_limit=None, neg_p_limit=None):
def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100, pos_p_limit=None, neg_p_limit=None):
self._k_p = k_p
self._k_i = k_i
self._k_d = k_d
self.k_f = k_f # feedforward gain
if isinstance(self._k_p, Number):
self._k_p = [[0], [self._k_p]]
if isinstance(self._k_i, Number):
@@ -19,13 +13,8 @@ class PIDController:
if isinstance(self._k_d, Number):
self._k_d = [[0], [self._k_d]]
self.pos_limit = pos_limit
self.neg_limit = neg_limit
self.set_limits(pos_limit, neg_limit)
self.pos_p_limit = pos_p_limit
self.neg_p_limit = neg_p_limit
self.i_unwind_rate = 0.3 / rate
self.i_dt = 1.0 / rate
self.speed = 0.0
@@ -33,23 +22,15 @@ class PIDController:
@property
def k_p(self):
return interp(self.speed, self._k_p[0], self._k_p[1])
return np.interp(self.speed, self._k_p[0], self._k_p[1])
@property
def k_i(self):
return interp(self.speed, self._k_i[0], self._k_i[1])
return np.interp(self.speed, self._k_i[0], self._k_i[1])
@property
def k_d(self):
return interp(self.speed, self._k_d[0], self._k_d[1])
@property
def error_integral(self):
return self.i/self.k_i
def set_limits(self, pos_limit, neg_limit):
self.pos_limit = pos_limit
self.neg_limit = neg_limit
return np.interp(self.speed, self._k_d[0], self._k_d[1])
def reset(self):
self.p = 0.0
@@ -58,29 +39,25 @@ class PIDController:
self.f = 0.0
self.control = 0
def update(self, error, error_rate=0.0, speed=0.0, override=False, feedforward=0., freeze_integrator=False):
def set_limits(self, pos_limit, neg_limit):
self.pos_limit = pos_limit
self.neg_limit = neg_limit
def update(self, error, error_rate=0.0, speed=0.0, feedforward=0., freeze_integrator=False):
self.speed = speed
self.p = self.k_p * float(error)
if self.pos_p_limit is not None and self.p > self.pos_p_limit:
self.p = self.pos_p_limit
elif self.neg_p_limit is not None and self.p < self.neg_p_limit:
self.p = self.neg_p_limit
self.d = self.k_d * error_rate
self.f = self.k_f * feedforward
self.f = feedforward
if override:
self.i -= self.i_unwind_rate * float(np.sign(self.i))
else:
if not freeze_integrator:
self.i = self.i + self.k_i * self.i_dt * error
if not freeze_integrator:
i = self.i + self.k_i * self.i_dt * error
# Clip i to prevent exceeding control limits
control_no_i = self.p + self.d + self.f
control_no_i = clip(control_no_i, self.neg_limit, self.pos_limit)
self.i = clip(self.i, self.neg_limit - control_no_i, self.pos_limit - control_no_i)
# Don't allow windup if already clipping
test_control = self.p + i + self.d + self.f
i_upperbound = self.i if test_control > self.pos_limit else self.pos_limit
i_lowerbound = self.i if test_control < self.neg_limit else self.neg_limit
self.i = np.clip(i, i_lowerbound, i_upperbound)
control = self.p + self.i + self.d + self.f
self.control = clip(control, self.neg_limit, self.pos_limit)
self.control = np.clip(control, self.neg_limit, self.pos_limit)
return self.control
selfdrive/locationd/paramsd.py
+1 -3
View File
@@ -187,8 +187,6 @@ def main():
# FrogPilot variables
frogpilot_toggles = get_frogpilot_toggles()
with custom.FrogPilotCarParams.from_bytes(params_reader.get("FrogPilotCarParams", block=True)) as msg:
FPCP = msg
while True:
sm.update()
@@ -240,7 +238,7 @@ def main():
0.2 <= liveParameters.stiffnessFactor <= 5.0,
min_sr <= liveParameters.steerRatio <= max_sr,
))
if CP.carFingerprint == "RAM_HD" or CP.carName == "subaru" and FPCP.lateralTuning.which() == "torque":
if CP.carFingerprint == "RAM_HD" or CP.carName == "subaru" and CP.lateralTuning.which() == "torque":
liveParameters.valid = True
liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
selfdrive/locationd/torqued.py
+14 -14
View File
@@ -52,7 +52,7 @@ class TorqueBuckets(PointBuckets):
class TorqueEstimator(ParameterEstimator):
def __init__(self, CP, FPCP, decimated=False):
def __init__(self, CP, decimated=False):
self.hist_len = int(HISTORY / DT_MDL)
self.lag = 0.0
if decimated:
@@ -72,11 +72,11 @@ class TorqueEstimator(ParameterEstimator):
self.offline_friction = 0.0
self.offline_latAccelFactor = 0.0
self.resets = 0.0
self.use_params = CP.carName in ALLOWED_CARS and FPCP.lateralTuning.which() == 'torque'
self.use_params = CP.carName in ALLOWED_CARS and CP.lateralTuning.which() == 'torque'
if FPCP.lateralTuning.which() == 'torque':
self.offline_friction = FPCP.lateralTuning.torque.friction
self.offline_latAccelFactor = FPCP.lateralTuning.torque.latAccelFactor
if CP.lateralTuning.which() == 'torque':
self.offline_friction = CP.lateralTuning.torque.friction
self.offline_latAccelFactor = CP.lateralTuning.torque.latAccelFactor
self.reset()
@@ -102,7 +102,7 @@ class TorqueEstimator(ParameterEstimator):
cache_ltp = log_evt.liveTorqueParameters
with car.CarParams.from_bytes(params_cache) as msg:
cache_CP = msg
if self.get_restore_key(cache_CP, FPCP, cache_ltp.version) == self.get_restore_key(CP, FPCP, VERSION):
if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
if cache_ltp.liveValid:
initial_params = {
'latAccelFactor': cache_ltp.latAccelFactorFiltered,
@@ -121,12 +121,12 @@ class TorqueEstimator(ParameterEstimator):
for param in initial_params:
self.filtered_params[param] = FirstOrderFilter(initial_params[param], self.decay, DT_MDL)
def get_restore_key(self, CP, FPCP, version):
def get_restore_key(self, CP, version):
a, b = None, None
if FPCP.lateralTuning.which() == 'torque':
a = FPCP.lateralTuning.torque.friction
b = FPCP.lateralTuning.torque.latAccelFactor
return (CP.carFingerprint, FPCP.lateralTuning.which(), a, b, version)
if CP.lateralTuning.which() == 'torque':
a = CP.lateralTuning.torque.friction
b = CP.lateralTuning.torque.latAccelFactor
return (CP.carFingerprint, CP.lateralTuning.which(), a, b, version)
def reset(self):
self.resets += 1.0
@@ -227,14 +227,14 @@ def main(demo=False):
sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman', 'liveDelay', 'frogpilotPlan'], poll='liveLocationKalman')
params = Params()
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP, custom.FrogPilotCarParams.from_bytes(params.get("FrogPilotCarParams", block=True)) as FPCP:
estimator = TorqueEstimator(CP, FPCP)
with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
estimator = TorqueEstimator(CP)
# FrogPilot variables
frogpilot_toggles = get_frogpilot_toggles()
if not frogpilot_toggles.liveValid:
estimator = TorqueEstimator(CP, FPCP, decimated=True)
estimator = TorqueEstimator(CP, decimated=True)
while True:
sm.update()
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system/hardware/fan_controller.py
+1 -2
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@@ -18,7 +18,7 @@ class TiciFanController(BaseFanController):
cloudlog.info("Setting up TICI fan handler")
self.last_ignition = False
self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_HW))
self.controller = PIDController(k_p=0, k_i=4e-3, rate=(1 / DT_HW))
def update(self, cur_temp: float, ignition: bool) -> int:
self.controller.neg_limit = -(100 if ignition else 30)
@@ -35,4 +35,3 @@ class TiciFanController(BaseFanController):
self.last_ignition = ignition
return fan_pwr_out