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controls: enter overriding state for steering override (#25617)

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* lateral overriding is overriding

* Update test

* remove

* also could do something like this and only have one OVERRIDE ET

* Revert "also could do something like this and only have one OVERRIDE ET"

This reverts commit 5c381641c08961676a56a9718fbdaa84989ac249.

* full names

* bump cereal

* test every event type

* update refs
old-commit-hash: 992707c1724ab0047ddd6e230b82e47ae51b25ed
This commit is contained in:
Shane Smiskol
2022-09-13 23:20:45 -07:00
committed by GitHub
parent 2b335169b2
commit c1b9a202aa
6 changed files with 48 additions and 33 deletions
Download Patch File Download Diff File Expand all files Collapse all files
cereal
+1 -1
Submodule cereal updated: 2335f98bbe...f363cc13c6
selfdrive/car/interfaces.py
+2
View File
@@ -215,6 +215,8 @@ class CarInterfaceBase(ABC):
events.add(EventName.parkBrake)
if cs_out.accFaulted:
events.add(EventName.accFaulted)
if cs_out.steeringPressed:
events.add(EventName.steerOverride)
# Handle button presses
events.events.extend(create_button_enable_events(cs_out.buttonEvents, pcm_cruise=self.CP.pcmCruise))
selfdrive/controls/controlsd.py
+6 -6
View File
@@ -508,9 +508,9 @@ class Controls:
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif self.events.any(ET.OVERRIDE):
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
self.state = State.overriding
self.current_alert_types.append(ET.OVERRIDE)
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
# SOFT DISABLING
elif self.state == State.softDisabling:
@@ -540,10 +540,10 @@ class Controls:
self.state = State.softDisabling
self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
self.current_alert_types.append(ET.SOFT_DISABLE)
elif not self.events.any(ET.OVERRIDE):
elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
self.state = State.enabled
else:
self.current_alert_types.append(ET.OVERRIDE)
self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
# DISABLED
elif self.state == State.disabled:
@@ -554,7 +554,7 @@ class Controls:
else:
if self.events.any(ET.PRE_ENABLE):
self.state = State.preEnabled
elif self.events.any(ET.OVERRIDE):
elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
self.state = State.overriding
else:
self.state = State.enabled
@@ -586,7 +586,7 @@ class Controls:
# Check which actuators can be enabled
CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
CC.longActive = self.active and not self.events.any(ET.OVERRIDE) and self.CP.openpilotLongitudinalControl
CC.longActive = self.active and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
actuators = CC.actuators
actuators.longControlState = self.LoC.long_control_state
selfdrive/controls/lib/events.py
+11 -2
View File
@@ -31,7 +31,8 @@ class Priority(IntEnum):
class ET:
ENABLE = 'enable'
PRE_ENABLE = 'preEnable'
OVERRIDE = 'override'
OVERRIDE_LATERAL = 'overrideLateral'
OVERRIDE_LONGITUDINAL = 'overrideLongitudinal'
NO_ENTRY = 'noEntry'
WARNING = 'warning'
USER_DISABLE = 'userDisable'
@@ -623,7 +624,15 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
},
EventName.gasPressedOverride: {
ET.OVERRIDE: Alert(
ET.OVERRIDE_LONGITUDINAL: Alert(
"",
"",
AlertStatus.normal, AlertSize.none,
Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .1),
},
EventName.steerOverride: {
ET.OVERRIDE_LATERAL: Alert(
"",
"",
AlertStatus.normal, AlertSize.none,
selfdrive/controls/tests/test_state_machine.py
+27 -23
View File
@@ -11,11 +11,11 @@ from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize
State = log.ControlsState.OpenpilotState
# The event types that maintain the current state
MAINTAIN_STATES = {State.enabled: None, State.disabled: None, State.softDisabling: ET.SOFT_DISABLE,
State.preEnabled: ET.PRE_ENABLE, State.overriding: ET.OVERRIDE}
MAINTAIN_STATES = {State.enabled: (None,), State.disabled: (None,), State.softDisabling: (ET.SOFT_DISABLE,),
State.preEnabled: (ET.PRE_ENABLE,), State.overriding: (ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)}
ALL_STATES = tuple(State.schema.enumerants.values())
# The event types checked in DISABLED section of state machine
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE)
ENABLE_EVENT_TYPES = (ET.ENABLE, ET.PRE_ENABLE, ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL)
def make_event(event_types):
@@ -41,29 +41,32 @@ class TestStateMachine(unittest.TestCase):
def test_immediate_disable(self):
for state in ALL_STATES:
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.IMMEDIATE_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
self.controlsd.events.clear()
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.IMMEDIATE_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
self.controlsd.events.clear()
def test_user_disable(self):
for state in ALL_STATES:
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.USER_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
self.controlsd.events.clear()
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.USER_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(State.disabled, self.controlsd.state)
self.controlsd.events.clear()
def test_soft_disable(self):
for state in ALL_STATES:
if state == State.preEnabled: # preEnabled considers NO_ENTRY instead
continue
self.controlsd.events.add(make_event([MAINTAIN_STATES[state], ET.SOFT_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
self.controlsd.events.clear()
for et in MAINTAIN_STATES[state]:
self.controlsd.events.add(make_event([et, ET.SOFT_DISABLE]))
self.controlsd.state = state
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, State.disabled if state == State.disabled else State.softDisabling)
self.controlsd.events.clear()
def test_soft_disable_timer(self):
self.controlsd.state = State.enabled
@@ -93,11 +96,12 @@ class TestStateMachine(unittest.TestCase):
def test_maintain_states(self):
# Given current state's event type, we should maintain state
for state in ALL_STATES:
self.controlsd.state = state
self.controlsd.events.add(make_event([MAINTAIN_STATES[state]]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, state)
self.controlsd.events.clear()
for et in MAINTAIN_STATES[state]:
self.controlsd.state = state
self.controlsd.events.add(make_event([et]))
self.controlsd.state_transition(self.CS)
self.assertEqual(self.controlsd.state, state)
self.controlsd.events.clear()
if __name__ == "__main__":
selfdrive/test/process_replay/ref_commit
+1 -1
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@@ -1 +1 @@
48db2dee177706285226d1287912e191f1699865
260bd1a7240221e75a20d547f68e8d1217f9f29e