#!/usr/bin/env python3 import json import math import cereal.messaging as messaging from cereal import car, log 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, 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 from openpilot.frogpilot.controls.lib.conditional_experimental_mode import ConditionalExperimentalMode from openpilot.frogpilot.controls.lib.frogpilot_acceleration import FrogPilotAcceleration from openpilot.frogpilot.controls.lib.frogpilot_events import FrogPilotEvents from openpilot.frogpilot.controls.lib.frogpilot_following import FrogPilotFollowing from openpilot.frogpilot.controls.lib.frogpilot_vcruise import FrogPilotVCruise class FrogPilotPlanner: def __init__(self, error_log, ThemeManager): self.cem = ConditionalExperimentalMode(self) self.frogpilot_acceleration = FrogPilotAcceleration(self) self.frogpilot_events = FrogPilotEvents(self, error_log, ThemeManager) self.frogpilot_following = FrogPilotFollowing(self) self.frogpilot_vcruise = FrogPilotVCruise(self) with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg: self.CP = msg self.tracking_lead_filter = FirstOrderFilter(0, 0.5, DT_MDL) self.driving_in_curve = False self.lateral_check = False self.model_stopped = False self.road_curvature_detected = False self.slower_lead = False self.tracking_lead = False self.lane_width_left = 0 self.lane_width_right = 0 self.lateral_acceleration = 0 self.model_length = 0 self.road_curvature = 0 self.time_to_curve = 0 self.v_cruise = 0 def update(self, now, time_validated, sm, frogpilot_toggles): self.lead_one = sm["radarState"].leadOne v_cruise = min(sm["controlsState"].vCruise, V_CRUISE_MAX) * CV.KPH_TO_MS v_ego = max(sm["carState"].vEgo, 0) if sm["controlsState"].enabled: self.frogpilot_acceleration.update(v_ego, sm, frogpilot_toggles) else: self.frogpilot_acceleration.max_accel = 0 self.frogpilot_acceleration.min_accel = 0 if sm["controlsState"].enabled and frogpilot_toggles.conditional_experimental_mode: self.cem.update(v_ego, sm, frogpilot_toggles) else: 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) self.frogpilot_following.update(v_ego, sm, frogpilot_toggles) localizer_valid = (sm["liveLocationKalman"].status == log.LiveLocationKalman.Status.valid) and sm["liveLocationKalman"].positionGeodetic.valid if sm["liveLocationKalman"].gpsOK and localizer_valid: gps_position = { "latitude": sm["liveLocationKalman"].positionGeodetic.value[0], "longitude": sm["liveLocationKalman"].positionGeodetic.value[1], "bearing": math.degrees(sm["liveLocationKalman"].calibratedOrientationNED.value[2]) } params_memory.put("LastGPSPosition", json.dumps(gps_position)) else: gps_position = None params_memory.remove("LastGPSPosition") self.lateral_acceleration = v_ego**2 * sm["controlsState"].curvature check_lane_width = frogpilot_toggles.adjacent_paths or frogpilot_toggles.adjacent_path_metrics or frogpilot_toggles.blind_spot_path or frogpilot_toggles.lane_detection if check_lane_width and v_ego >= frogpilot_toggles.minimum_lane_change_speed: self.lane_width_left = calculate_lane_width(sm["modelV2"].laneLines[0], sm["modelV2"].laneLines[1], sm["modelV2"].roadEdges[0]) self.lane_width_right = calculate_lane_width(sm["modelV2"].laneLines[3], sm["modelV2"].laneLines[2], sm["modelV2"].roadEdges[1]) else: self.lane_width_left = 0 self.lane_width_right = 0 self.lateral_check = v_ego >= frogpilot_toggles.pause_lateral_below_speed self.lateral_check |= not (sm["carState"].leftBlinker or sm["carState"].rightBlinker) and frogpilot_toggles.pause_lateral_below_signal self.lateral_check |= sm["carState"].standstill self.model_length = sm["modelV2"].position.x[-1] self.model_stopped = self.model_length < CRUISING_SPEED * PLANNER_TIME self.model_stopped |= self.frogpilot_vcruise.forcing_stop self.road_curvature, self.time_to_curve = calculate_road_curvature(sm["modelV2"], v_ego) self.road_curvature_detected = (1 / abs(self.road_curvature))**0.5 < v_ego > CRUISING_SPEED and not (sm["carState"].leftBlinker or sm["carState"].rightBlinker) if not sm["carState"].standstill: self.tracking_lead = self.update_lead_status() self.v_cruise = self.frogpilot_vcruise.update(gps_position, now, time_validated, v_cruise, v_ego, sm, frogpilot_toggles) def update_lead_status(self): following_lead = self.lead_one.status from frogpilot.common.frogpilot_variables import get_frogpilot_toggles fp_toggles = get_frogpilot_toggles() following_lead &= self.lead_one.dRel < self.model_length + fp_toggles.stop_distance self.tracking_lead_filter.update(following_lead) return self.tracking_lead_filter.x >= THRESHOLD def publish(self, theme_updated, toggles_updated, sm, pm, frogpilot_toggles): frogpilot_plan_send = messaging.new_message("frogpilotPlan") frogpilot_plan_send.valid = sm.all_checks(service_list=["carState", "controlsState"]) frogpilotPlan = frogpilot_plan_send.frogpilotPlan frogpilotPlan.accelerationJerk = A_CHANGE_COST * self.frogpilot_following.acceleration_jerk frogpilotPlan.accelerationJerkStock = A_CHANGE_COST * self.frogpilot_following.base_acceleration_jerk frogpilotPlan.dangerJerk = DANGER_ZONE_COST * self.frogpilot_following.danger_jerk frogpilotPlan.speedJerk = J_EGO_COST * self.frogpilot_following.speed_jerk frogpilotPlan.speedJerkStock = J_EGO_COST * self.frogpilot_following.base_speed_jerk frogpilotPlan.tFollow = self.frogpilot_following.t_follow frogpilotPlan.cscControllingSpeed = self.frogpilot_vcruise.csc_controlling_speed frogpilotPlan.cscSpeed = self.frogpilot_vcruise.csc_target frogpilotPlan.cscTraining = self.frogpilot_vcruise.csc.enable_training 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 frogpilotPlan.forcingStopLength = self.frogpilot_vcruise.tracked_model_length frogpilotPlan.frogpilotEvents = self.frogpilot_events.events.to_msg() frogpilotPlan.increasedStoppedDistance = frogpilot_toggles.increase_stopped_distance if not sm["frogpilotCarState"].trafficModeEnabled else 0 frogpilotPlan.laneWidthLeft = self.lane_width_left frogpilotPlan.laneWidthRight = self.lane_width_right frogpilotPlan.lateralCheck = self.lateral_check frogpilotPlan.maxAcceleration = self.frogpilot_acceleration.max_accel frogpilotPlan.minAcceleration = self.frogpilot_acceleration.min_accel frogpilotPlan.redLight = self.cem.stop_light_detected frogpilotPlan.roadCurvature = self.road_curvature frogpilotPlan.slcMapSpeedLimit = self.frogpilot_vcruise.slc.map_speed_limit frogpilotPlan.slcMapboxSpeedLimit = self.frogpilot_vcruise.slc.mapbox_limit frogpilotPlan.slcNextSpeedLimit = self.frogpilot_vcruise.slc.next_speed_limit frogpilotPlan.slcOverriddenSpeed = self.frogpilot_vcruise.slc.overridden_speed frogpilotPlan.slcSpeedLimit = self.frogpilot_vcruise.slc_target frogpilotPlan.slcSpeedLimitOffset = self.frogpilot_vcruise.slc_offset frogpilotPlan.slcSpeedLimitSource = self.frogpilot_vcruise.slc.source frogpilotPlan.speedLimitChanged = self.frogpilot_vcruise.slc.speed_limit_changed_timer > DT_MDL frogpilotPlan.unconfirmedSlcSpeedLimit = self.frogpilot_vcruise.slc.unconfirmed_speed_limit frogpilotPlan.themeUpdated = theme_updated or params_memory.get_bool("UseActiveTheme") frogpilotPlan.togglesUpdated = toggles_updated frogpilotPlan.trackingLead = self.tracking_lead frogpilotPlan.vCruise = self.v_cruise pm.send("frogpilotPlan", frogpilot_plan_send)