mirror of
https://github.com/firestar5683/StarPilot.git
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rbiasini
6209ad5120
* Before abstraction, adding speed init from VW as well * strting to abstract carstate class * fix bug and update lock? * revert pipfile change * another bug * fix linter * bug fix * remove a bunch of diplicated kf code * better to not have class vars. will abstract __init__ anyway later * abstract common instance vars in carstate init and a generic gear parser static method * abstract gear parser for chrysler * abstract gm gear parser too * remove unnecessary random vars * Chrysler: carstate returns capnp struct directly * revert ref commit * test ref * WIP * more WIP * ops, missed this conflict * ford as well * not sure why this got deleted * no need to copy * remove copy * remove copy import * remove unnecessary intermediate variable * remove obsolete comments * GM: have carstate returning capnp struct directly * Honda carstate also outputing capnp struct * hyundai too now returns capnp from carstate * ops, not meant this * Subaru carstate also returning capnp * Toyota: capnp struct as output of carstate * fix bool * minor simplififcation in Honda * no need to negate * VW carstate returning capnp struct (#1118) * VW carstate also returning capnp struct * fixed typo * Remove unused blinker button (#1119) * remove unused blinker button * ops, this wasn't meant * remove blinker button for VW as well * update ref Co-authored-by: Willem Melching <willem.melching@gmail.com> old-commit-hash: 0c67143c925f3ead6c3e88675e4fcfa4fa3f9c28
75 lines
2.2 KiB
Python
75 lines
2.2 KiB
Python
import os
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import time
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from cereal import car
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from common.kalman.simple_kalman import KF1D
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from common.realtime import DT_CTRL
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from selfdrive.car import gen_empty_fingerprint
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GearShifter = car.CarState.GearShifter
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# generic car and radar interfaces
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class CarInterfaceBase():
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def __init__(self, CP, CarController):
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pass
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@staticmethod
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def calc_accel_override(a_ego, a_target, v_ego, v_target):
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return 1.
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@staticmethod
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def compute_gb(accel, speed):
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raise NotImplementedError
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
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raise NotImplementedError
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# returns a car.CarState, pass in car.CarControl
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def update(self, c, can_strings):
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raise NotImplementedError
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# return sendcan, pass in a car.CarControl
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def apply(self, c):
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raise NotImplementedError
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class RadarInterfaceBase():
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def __init__(self, CP):
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self.pts = {}
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self.delay = 0
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self.radar_ts = CP.radarTimeStep
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def update(self, can_strings):
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ret = car.RadarData.new_message()
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if 'NO_RADAR_SLEEP' not in os.environ:
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time.sleep(self.radar_ts) # radard runs on RI updates
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return ret
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class CarStateBase:
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def __init__(self, CP):
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self.CP = CP
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self.car_fingerprint = CP.carFingerprint
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self.cruise_buttons = 0
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# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
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# R = 1e3
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self.v_ego_kf = KF1D(x0=[[0.0], [0.0]],
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A=[[1.0, DT_CTRL], [0.0, 1.0]],
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C=[1.0, 0.0],
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K=[[0.12287673], [0.29666309]])
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def update_speed_kf(self, v_ego_raw):
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if abs(v_ego_raw - self.v_ego_kf.x[0][0]) > 2.0: # Prevent large accelerations when car starts at non zero speed
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self.v_ego_kf.x = [[v_ego_raw], [0.0]]
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v_ego_x = self.v_ego_kf.update(v_ego_raw)
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return float(v_ego_x[0]), float(v_ego_x[1])
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@staticmethod
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def parse_gear_shifter(gear):
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return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
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'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
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'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
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