mirror of
https://github.com/firestar5683/StarPilot.git
synced 2026-07-09 07:32:06 +08:00
Kurt Nistelberger
fb06d2769f
* PoC of reading sensors via interrupts instead of polling * add Gyro and draft for magn * add more functionality to gpio.cc * change LSM gyro to interrupt * resolve rebase conflict * update BMX accel interrupt impl * add interrupt collector thread to fetch in parallel * change get_event interface to return true on successful read * update BMX gyro interrupt impl * update gpio.h/.cc according to comments * address comments, rename Edgetype enum * Edgetype to EdgeType * update sensor interrupt interface * add error handling, and read fd on trigger * avoid sending empty messages * fix build * use gpiochip * less diff * gpiochip on both edges, but skip falling edge if rising edge is detected * init last_ts with 0 * update sensord testcases * update sensord testsweet * test for pipeline * readd with_process * add null check * move tests update to seperate PR * sensord: improve test coverage (#25683) * update sensord-interrupt testsweet * address review comments * inc stddev threshold * fix format string * add version 0 check again * relax strictness after c3 with bmx tests * relax strictness after tests Co-authored-by: Kurt Nistelberger <kurt.nistelberger@gmail.com> * address PR comments * fix typo * remove 4ms limit, and skip first 0.5sec of data * revert disable_interuppt change to destructor * fix and remove timing skip * make gpiochip generic * sensord port * change from sensorEvents to separated events * fix gyro usage * add splitted sensor tests * modify debug script sensor_data_to_hist.py * refactor get_event interface to remove sensorEvent message type * update locationd to non sensorEvent usage * tmp commit * fix replay * fix accelerometer type * fix sensor to hist debug script * update sensord tests to split events * remove rebase artifacts * port test_sensord.py * small clean up * change cereal to sensorEvents-splitup branch * upate sensorEvents in regen * fix route generation for splitted sensor events * regen cleanUp from sensorEvents change * . * remove light and temp from locationd * add generic init delay per sensor * . * update routes * move bmx gyro/accel to its own channel * adopt sensor tests to bmx channel * remove rebase artifacts * fix sensord test * handle bmx not present * add bmx sockets to regen * . * . * code cleanUp * . * address PR comments * address PR comments * address PR comments * lsm clean up * readd sensorEvents * rever regen.py * . * update replay refs * move channels * fix artifact * bump cereal * update refs * fix timing issue Co-authored-by: Bruce Wayne <batman@workstation-eu-intern2.eu.local> Co-authored-by: gast04 <kurt.nistelberger@gmail.com> Co-authored-by: Willem Melching <willem.melching@gmail.com> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com> old-commit-hash: 29d3ed2ce63a65f793dc0ecb553180a0d0fba03e
85 lines
2.6 KiB
Python
Executable File
85 lines
2.6 KiB
Python
Executable File
#!/usr/bin/env python3
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import math
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from cereal import car
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from common.conversions import Conversions as CV
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from system.swaglog import cloudlog
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import cereal.messaging as messaging
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from selfdrive.car import gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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# mocked car interface to work with chffrplus
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TS = 0.01 # 100Hz
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YAW_FR = 0.2 # ~0.8s time constant on yaw rate filter
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# low pass gain
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LPG = 2 * math.pi * YAW_FR * TS / (1 + 2 * math.pi * YAW_FR * TS)
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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cloudlog.debug("Using Mock Car Interface")
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self.gyro = messaging.sub_sock('gyroscope')
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self.gps = messaging.sub_sock('gpsLocationExternal')
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self.speed = 0.
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self.prev_speed = 0.
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self.yaw_rate = 0.
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self.yaw_rate_meas = 0.
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, experimental_long=False):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "mock"
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
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ret.mass = 1700.
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ret.rotationalInertia = 2500.
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ret.wheelbase = 2.70
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13. # reasonable
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ret.tireStiffnessFront = 1e6 # very stiff to neglect slip
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ret.tireStiffnessRear = 1e6 # very stiff to neglect slip
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return ret
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# returns a car.CarState
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def _update(self, c):
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# get basic data from phone and gps since CAN isn't connected
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gyro_sensor = messaging.recv_sock(self.gyro)
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if gyro_sensor is not None:
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self.yaw_rate_meas = -gyro_sensor.gyroscope.gyroUncalibrated.v[0]
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gps = messaging.recv_sock(self.gps)
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if gps is not None:
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self.prev_speed = self.speed
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self.speed = gps.gpsLocationExternal.speed
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# create message
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ret = car.CarState.new_message()
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# speeds
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ret.vEgo = self.speed
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ret.vEgoRaw = self.speed
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a = self.speed - self.prev_speed
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ret.aEgo = a
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ret.brakePressed = a < -0.5
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ret.standstill = self.speed < 0.01
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ret.wheelSpeeds.fl = self.speed
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ret.wheelSpeeds.fr = self.speed
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ret.wheelSpeeds.rl = self.speed
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ret.wheelSpeeds.rr = self.speed
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self.yawRate = LPG * self.yaw_rate_meas + (1. - LPG) * self.yaw_rate
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curvature = self.yaw_rate / max(self.speed, 1.)
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ret.steeringAngleDeg = curvature * self.CP.steerRatio * self.CP.wheelbase * CV.RAD_TO_DEG
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return ret
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def apply(self, c):
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# in mock no carcontrols
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actuators = car.CarControl.Actuators.new_message()
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return actuators, []
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