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controlsd/publish_logs: follow capnp best practices (#23372)

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* follow follow capnp best practices

* cleanup
old-commit-hash: 960e0cf6a70638e5235f569da9391638eb94b513
This commit is contained in:
Dean Lee
2022-01-04 19:04:03 +08:00
committed by GitHub
parent 36b506c880
commit ea519c31e4
1 changed files with 29 additions and 22 deletions
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selfdrive/controls/controlsd.py
+29 -22
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@@ -579,46 +579,51 @@ class Controls:
CC.active = self.active
CC.actuators = actuators
if len(self.sm['liveLocationKalman'].orientationNED.value) > 2:
CC.roll = self.sm['liveLocationKalman'].orientationNED.value[0]
CC.pitch = self.sm['liveLocationKalman'].orientationNED.value[1]
orientation_value = self.sm['liveLocationKalman'].orientationNED.value
if len(orientation_value) > 2:
CC.roll = orientation_value[0]
CC.pitch = orientation_value[1]
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
CC.cruiseControl.cancel = True
CC.hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = self.enabled
CC.hudControl.lanesVisible = self.enabled
CC.hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
hudControl = CC.hudControl
hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
hudControl.speedVisible = self.enabled
hudControl.lanesVisible = self.enabled
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
CC.hudControl.rightLaneVisible = True
CC.hudControl.leftLaneVisible = True
hudControl.rightLaneVisible = True
hudControl.leftLaneVisible = True
recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0 # 5s blinker cooldown
ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
and not self.active and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
meta = self.sm['modelV2'].meta
if len(meta.desirePrediction) and ldw_allowed:
model_v2 = self.sm['modelV2']
desire_prediction = model_v2.meta.desirePrediction
if len(desire_prediction) and ldw_allowed:
right_lane_visible = self.sm['lateralPlan'].rProb > 0.5
left_lane_visible = self.sm['lateralPlan'].lProb > 0.5
l_lane_change_prob = meta.desirePrediction[Desire.laneChangeLeft - 1]
r_lane_change_prob = meta.desirePrediction[Desire.laneChangeRight - 1]
l_lane_close = left_lane_visible and (self.sm['modelV2'].laneLines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (self.sm['modelV2'].laneLines[2].y[0] < (1.08 - CAMERA_OFFSET))
l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
CC.hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
CC.hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
lane_lines = model_v2.laneLines
l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
r_lane_close = right_lane_visible and (lane_lines[2].y[0] < (1.08 - CAMERA_OFFSET))
if CC.hudControl.rightLaneDepart or CC.hudControl.leftLaneDepart:
hudControl.leftLaneDepart = bool(l_lane_change_prob > LANE_DEPARTURE_THRESHOLD and l_lane_close)
hudControl.rightLaneDepart = bool(r_lane_change_prob > LANE_DEPARTURE_THRESHOLD and r_lane_close)
if hudControl.rightLaneDepart or hudControl.leftLaneDepart:
self.events.add(EventName.ldw)
clear_event = ET.WARNING if ET.WARNING not in self.current_alert_types else None
alerts = self.events.create_alerts(self.current_alert_types, [self.CP, self.sm, self.is_metric, self.soft_disable_timer])
self.AM.add_many(self.sm.frame, alerts)
self.AM.process_alerts(self.sm.frame, clear_event)
CC.hudControl.visualAlert = self.AM.visual_alert
hudControl.visualAlert = self.AM.visual_alert
if not self.read_only and self.initialized:
# send car controls over can
@@ -665,16 +670,18 @@ class Controls:
controlsState.forceDecel = bool(force_decel)
controlsState.canErrorCounter = self.can_rcv_error_counter
lat_tuning = self.CP.lateralTuning.which()
if self.joystick_mode:
controlsState.lateralControlState.debugState = lac_log
elif self.CP.steerControlType == car.CarParams.SteerControlType.angle:
controlsState.lateralControlState.angleState = lac_log
elif self.CP.lateralTuning.which() == 'pid':
elif lat_tuning == 'pid':
controlsState.lateralControlState.pidState = lac_log
elif self.CP.lateralTuning.which() == 'lqr':
elif lat_tuning == 'lqr':
controlsState.lateralControlState.lqrState = lac_log
elif self.CP.lateralTuning.which() == 'indi':
elif lat_tuning == 'indi':
controlsState.lateralControlState.indiState = lac_log
self.pm.send('controlsState', dat)
# carState