mirror of
https://github.com/firestar5683/StarPilot.git
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firestar5683
414 lines
23 KiB
Python
Executable File
414 lines
23 KiB
Python
Executable File
#!/usr/bin/env python3
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import math
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import os
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import time
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from numbers import Number
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from openpilot.cereal import log
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from opendbc.car.structs import car
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import openpilot.cereal.messaging as messaging
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from openpilot.common.constants import CV
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from openpilot.common.params import Params
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from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
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from openpilot.common.swaglog import cloudlog
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from opendbc.car.car_helpers import interfaces
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from opendbc.car.vehicle_model import VehicleModel
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from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
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from openpilot.selfdrive.controls.lib.latcontrol import LatControl
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from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
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from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
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from openpilot.selfdrive.controls.lib.latcontrol_curvature import LatControlCurvature
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from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
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from openpilot.selfdrive.controls.lib.longcontrol import LongControl
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from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
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from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
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from openpilot.starpilot.car.hyundai.lateral_fault import LateralFaultLatch
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from openpilot.starpilot.feature_runtime import enabled as feature_enabled
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from openpilot.starpilot.vehicle_preferences import VehicleStartupPreferences
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from openpilot.starpilot.lateral.model_turn_assist import ModelTurnAssist, update_twitch_guard
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from openpilot.starpilot.aol.runtime import current_axis, current_native, ordinary_lateral_requested, ordinary_axis_acknowledged
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from openpilot.starpilot.aol.vehicle import policy_for as axis_policy_for, ordinary_axis_request_allowed, allow_lateral_onset
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from openpilot.starpilot.lateral.lane_centering import (
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LaneCenteringController, LaneCenteringInput, LaneCenteringRequest, LaneCenteringResult,
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)
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from openpilot.starpilot.lateral.lane_feedback import feedback_message
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from openpilot.starpilot.lateral.lane_change_preferences import read_saved as read_lane_change, effective as lane_change_policy
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from openpilot.starpilot.lateral.lane_change_smoothing import LaneChangeSmoother, limit_rate
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from openpilot.starpilot.lateral.lane_runtime import LaneCenteringHost, runtime_supported as lane_runtime_supported
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from openpilot.starpilot.lateral.torque_runtime import TorqueHost, runtime_enabled as torque_runtime_enabled
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from openpilot.starpilot.lateral.controller_selection import learning_allowed, read_selection
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from openpilot.starpilot.lateral.gain_runtime import create_gain_owner
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from openpilot.starpilot.longitudinal.inputs import LongitudinalInputs
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from openpilot.starpilot.longitudinal.output_max import OutputMaximum, final_output
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State = log.SelfdriveState.OpenpilotState
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
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class Controls:
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def __init__(self) -> None:
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self.params = Params()
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cloudlog.info("controlsd is waiting for CarParams")
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self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
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cloudlog.info("controlsd got CarParams")
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self.CI = interfaces[self.CP.carFingerprint](self.CP)
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self.hyundai_lateral_fault = LateralFaultLatch(self.CP.carFingerprint)
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self.lateral_controller_selection = read_selection(self.params, self.CP)
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self.vehicle_startup_preferences = VehicleStartupPreferences.read(
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self.params, enabled=self.params.get_bool("OpenpilotEnabledToggle"))
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self.torque_learning_allowed = learning_allowed(self.params, self.CP, selection=self.lateral_controller_selection)
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self.aol_replay = feature_enabled(self.params, self.CP, 'aol', os.environ)
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self.ordinary_axis_ack_required = axis_policy_for(self.CP).ordinary_axis_ack_required
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self.longitudinal_inputs = LongitudinalInputs(self.CP, self.params, lambda: self.sm)
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self.longitudinal_output_maximum = OutputMaximum(self.params, self.CP)
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services = (['lateralDelay', 'vehicleParameters', 'lateralTorqueParameters', 'modelV2', 'selfdriveState',
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'extrinsicsCalibration', 'deviceMotion', 'longitudinalPlan', 'lateralManeuverPlan', 'carState', 'carOutput',
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'driverMonitoringState', 'onroadEvents', 'driverAssistance'] +
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(['aolAxisState', 'aolSafetyWire'] if self.aol_replay or self.ordinary_axis_ack_required else []))
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optional = self.longitudinal_inputs.optional_services
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if optional:
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self.sm = messaging.SubMaster(services + optional, poll='selfdriveState',
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ignore_alive=optional, ignore_valid=optional, ignore_avg_freq=optional)
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else:
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self.sm = messaging.SubMaster(services, poll='selfdriveState')
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self.pm = messaging.PubMaster(['carControl', 'controlsState', 'starpilotLateralState'])
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self.steer_limited_by_safety = False
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self.curvature = 0.0
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self.desired_curvature = 0.0
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self.model_turn_assist = ModelTurnAssist()
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self.lane_centering_controller = LaneCenteringController()
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self.lane_change_policy = lane_change_policy(read_lane_change(self.params))
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self.lane_change_smoother = LaneChangeSmoother()
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self.lane_centering_host = LaneCenteringHost(self.params) if lane_runtime_supported(self.CP) else None
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self.torque_host = (TorqueHost(self.params, self.CP, allow_learning=(self.torque_learning_allowed
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if self.lateral_controller_selection.policy is not None else None))
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if torque_runtime_enabled(self.CP, self.params) else None)
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self.last_lane_centering_result: LaneCenteringResult | None = None
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self.lane_centering_applied = 0.0
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self.pose_calibrator = PoseCalibrator()
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self.calibrated_pose: Pose | None = None
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self.lateral_gain_owner = None
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self.LoC = LongControl(self.CP)
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self.VM = VehicleModel(self.CP)
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self.LaC: LatControl
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if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
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self.LaC = LatControlAngle(self.CP, self.CI, DT_CTRL)
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elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
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self.LaC = LatControlCurvature(self.CP, self.CI, DT_CTRL)
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elif self.CP.lateralTuning.which() == 'pid':
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self.LaC = LatControlPID(self.CP, self.CI, DT_CTRL)
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elif self.CP.lateralTuning.which() == 'torque':
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self.LaC = LatControlTorque(self.CP, self.CI, DT_CTRL, controller_mode=self.lateral_controller_selection.mode,
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turn_assist=self.vehicle_startup_preferences.turn_assist)
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self.lateral_gain_owner = create_gain_owner(self.params, self.CP, self.LaC)
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cloudlog.info({"event": "torque controller selected", "controller": self.LaC.controller_mode.value,
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"source": self.lateral_controller_selection.source,
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"vehicle": self.CP.carFingerprint, "policy": self.LaC.controller_policy,
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"automaticLearning": self.torque_learning_allowed, "startupParameterSource": "vehicle",
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"startupTorque": {"factor": self.LaC.torque_params.latAccelFactor,
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"offset": self.LaC.torque_params.latAccelOffset,
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"friction": self.LaC.torque_params.friction},
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"startupPidGain": [list(row) for row in self.LaC.pid._k_p],
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"startupPidLimits": [self.LaC.pid.neg_limit, self.LaC.pid.pos_limit]})
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from openpilot.starpilot.lateral.controller_selection import turn_assist_supported
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assist_enabled = self.vehicle_startup_preferences.turn_assist and turn_assist_supported(self.CP)
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self.turn_assist_enabled = lambda: assist_enabled
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def update(self):
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self.sm.update(15)
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if self.sm.updated["extrinsicsCalibration"]:
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self.pose_calibrator.feed_extrinsics_calibration(self.sm['extrinsicsCalibration'])
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if self.sm.updated["deviceMotion"]:
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device_motion = Pose.from_device_motion(self.sm['deviceMotion'])
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self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_motion)
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def state_control(self, *, lane_centering: LaneCenteringRequest | None = None):
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CS = self.sm['carState']
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if self.lateral_gain_owner is not None:
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self.lateral_gain_owner.refresh()
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# Update VehicleModel
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lp = self.sm['vehicleParameters']
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x = max(lp.stiffnessFactor, 0.1)
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sr = max(lp.steerRatio, 0.1)
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torque_extension = getattr(self.LaC, 'starpilot_extension', None)
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if torque_extension is not None:
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sr = torque_extension.vehicle_model_ratio(sr, CS.vEgo)
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self.VM.update_params(x, sr)
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steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
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self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
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# Update Torque Params
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if self.CP.lateralTuning.which() == 'torque' and self.torque_host is None and self.torque_learning_allowed:
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torque_params = self.sm['lateralTorqueParameters']
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if self.sm.all_checks(['lateralTorqueParameters']) and torque_params.useParams:
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self.LaC.update_torque_parameters(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
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torque_params.frictionCoefficientFiltered)
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long_plan = self.sm['longitudinalPlan']
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model_v2 = self.sm['modelV2']
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CC = car.CarControl.new_message()
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CC.enabled = self.sm['selfdriveState'].enabled
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# Check which actuators can be enabled
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standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
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lateral_requested = self.sm['selfdriveState'].enabled and self.sm['selfdriveState'].active
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CC.latActive = ordinary_lateral_requested(self.sm['selfdriveState'].active, CS, self.CP)
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CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
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CC.longActive = self.longitudinal_inputs.qualify_active(CC.longActive)
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if self.aol_replay:
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now_ns = int(self.sm.logMonoTime['carState']) if os.getenv('REPLAY') == '1' else time.monotonic_ns()
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axis = current_axis(self.sm, now_ns=now_ns)
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native = current_native(self.sm, self.CP, now_ns=now_ns,
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axis_session_id=str(axis.sessionId) if axis is not None else None)
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acknowledged = axis is not None and native is not None and axis.nativeAcknowledged
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lateral_requested = bool(axis.desiredLateral) if axis is not None else None
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CC.latActive = bool(acknowledged and axis.lateralActive and
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bool(axis.desiredLateral) == bool(native.requestedLateral) and native.lateralAllowed and
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not CS.steerFaultTemporary and not CS.steerFaultPermanent and
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(not standstill or self.CP.steerAtStandstill))
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CC.longActive = bool(acknowledged and axis.longitudinalActive and
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bool(axis.desiredLongitudinal) == bool(native.requestedLongitudinal) and native.longitudinalAllowed and
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self.CP.openpilotLongitudinalControl and
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not any(e.overrideLongitudinal for e in self.sm['onroadEvents']))
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elif getattr(self, 'ordinary_axis_ack_required', False):
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now_ns = int(self.sm.logMonoTime['carState']) if os.getenv('REPLAY') == '1' else time.monotonic_ns()
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CC.latActive = bool(CC.latActive and CS.canValid and not CS.canTimeout and
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ordinary_axis_request_allowed(self.CP, CS) and
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ordinary_axis_acknowledged(self.sm, self.CP, now_ns=now_ns))
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fault_latch = getattr(self, 'hyundai_lateral_fault', None)
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if fault_latch is not None:
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latched = fault_latch.update(requested=lateral_requested, temporary_fault=bool(CS.steerFaultTemporary),
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cruise_enabled=bool(CS.cruiseState.enabled))
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CC.latActive = bool(CC.latActive and not latched)
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CC.latActive = allow_lateral_onset(self.CP, requested=bool(CC.latActive), normal_enabled=bool(CC.enabled),
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steering_pressed=bool(CS.steeringPressed),
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previous_active=bool(getattr(self, 'aol_previous_lateral_active', False)))
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if self.torque_host is not None:
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# The optional source must not keep an active torque request through lost car state.
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CC.latActive = bool(CC.latActive and CS.canValid and not CS.canTimeout)
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now_ns = int(self.sm.logMonoTime['carState']) if os.getenv('REPLAY') == '1' else time.monotonic_ns()
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tune = self.torque_host.sample(self.sm, now_ns=now_ns, lat_active=bool(CC.latActive))
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self.torque_host.apply(self.LaC, tune)
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if not CC.latActive:
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self.LaC.pid.reset()
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actuators = CC.actuators
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actuators.longControlState = self.LoC.long_control_state
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# Enable blinkers while lane changing
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if model_v2.meta.laneChangeState != LaneChangeState.off:
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CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
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CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
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if not CC.latActive:
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self.LaC.reset()
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if not CC.longActive:
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self.LoC.reset()
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# accel PID loop
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pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
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longitudinal_output = self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits,
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context=self.longitudinal_inputs.context(CC.longActive))
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actuators.accel = final_output(longitudinal_output, getattr(self, "longitudinal_output_maximum", None), time.monotonic_ns())
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if self.longitudinal_inputs.publish_state:
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# Publish the selected launch state to the vehicle controller in this same frame.
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actuators.longControlState = self.LoC.long_control_state
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# Steering PID loop and lateral MPC
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# Reset desired curvature to current to avoid violating the limits on engage
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if self.sm.valid['lateralManeuverPlan']:
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new_desired_curvature = self.sm['lateralManeuverPlan'].desiredCurvature if CC.latActive else self.curvature
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else:
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new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
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assist = self.turn_assist_enabled()
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rolling = math.isfinite(CS.vEgo) and CS.vEgo > max(.1 * CV.MPH_TO_MS, self.CP.minSteerSpeed)
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if (assist and rolling and self.sm.all_checks(['modelV2']) and CC.latActive and not CS.standstill and not CS.steerFaultTemporary and
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not CS.steerFaultPermanent and CS.gearShifter in (car.CarState.GearShifter.drive, car.CarState.GearShifter.low)):
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self.model_turn_assist.curvature = self.curvature
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self.model_turn_assist.twitch_guard_remaining = update_twitch_guard(self.model_turn_assist.twitch_guard_remaining, CS.vEgo, CS.standstill)
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new_desired_curvature = self.model_turn_assist.update(CS, model_v2, CC, new_desired_curvature)
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elif getattr(self, 'model_turn_assist', None) is not None:
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self.model_turn_assist.reset()
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self.model_turn_assist.twitch_guard_remaining = update_twitch_guard(0., CS.vEgo, CS.standstill)
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lane_base_curvature = new_desired_curvature
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self.lane_centering_applied = 0.0
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self.last_lane_centering_result = None
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if lane_centering is None and self.lane_centering_host is not None:
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now_ns = int(self.sm.logMonoTime['carState']) if os.getenv('REPLAY') == '1' else time.monotonic_ns()
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lane_centering = self.lane_centering_host.sample(self.sm, now_ns=now_ns,
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lateral_active=CC.latActive, longitudinal_active=CC.longActive)
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if lane_centering is None:
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self.lane_centering_controller.reset()
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elif not isinstance(lane_centering, LaneCenteringRequest):
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self.lane_centering_controller.reset()
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self.last_lane_centering_result = LaneCenteringResult(None, 0.0, 0, "invalid_request")
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else:
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result = self.lane_centering_controller.update(LaneCenteringInput(
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model=model_v2, model_sample_id=self.sm.logMonoTime['modelV2'],
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model_valid=bool(self.sm.all_checks(['modelV2'])), base_curvature=new_desired_curvature,
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speed_mps=CS.vEgo, mode=lane_centering.mode, lateral_active=CC.latActive,
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settings=lane_centering.settings, elapsed_seconds=lane_centering.elapsed_seconds,
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turn_signal_active=bool(CS.leftBlinker or CS.rightBlinker), driver_override=bool(CS.steeringPressed),
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time_discontinuity=lane_centering.time_discontinuity,
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))
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self.last_lane_centering_result = result
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if result.candidate_curvature is not None:
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new_desired_curvature = result.candidate_curvature
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previous_curvature = self.desired_curvature
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factor = self.lane_change_smoother.factor(
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active=bool(CC.latActive and CS.canValid and not CS.canTimeout and self.sm.all_checks(['modelV2']) and
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self.lane_change_policy.enabled), lane_change_state=model_v2.meta.laneChangeState,
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speed=CS.vEgo, minimum_speed=self.lane_change_policy.minimum_speed_mps,
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duration=self.lane_change_policy.duration_s, previous=previous_curvature, desired=new_desired_curvature,
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turn_assist=assist)
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new_desired_curvature = limit_rate(CS.vEgo, previous_curvature, new_desired_curvature, factor)
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self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, previous_curvature, new_desired_curvature, lp.roll)
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if self.last_lane_centering_result is not None and self.last_lane_centering_result.correction != 0.0:
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baseline_curvature, _ = clip_curvature(CS.vEgo, previous_curvature, limit_rate(CS.vEgo, previous_curvature, lane_base_curvature, factor), lp.roll)
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self.lane_centering_applied = self.desired_curvature - baseline_curvature
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lat_delay = self.sm["lateralDelay"].lateralDelay + LAT_SMOOTH_SECONDS
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actuators.curvature = self.desired_curvature
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steer, lateral_output, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
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self.steer_limited_by_safety, self.desired_curvature,
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curvature_limited, lat_delay)
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actuators.torque = float(steer)
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if self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
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actuators.curvature = float(lateral_output)
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else:
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actuators.steeringAngleDeg = float(lateral_output)
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# Ensure no NaNs/Infs
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for p in ACTUATOR_FIELDS:
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attr = getattr(actuators, p)
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if not isinstance(attr, Number):
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continue
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if not math.isfinite(attr):
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cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
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setattr(actuators, p, 0.0)
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self.aol_previous_lateral_active = bool(CC.latActive)
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return CC, lac_log
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def publish(self, CC, lac_log):
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CS = self.sm['carState']
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# Orientation and angle rates can be useful for carcontroller
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# Only calibrated (car) frame is relevant for the carcontroller
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CC.currentCurvature = self.curvature
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if self.calibrated_pose is not None:
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CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
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CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
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CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
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CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
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CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
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if self.LoC.extension is not None:
|
|
CC.cruiseControl.resume = self.LoC.extension.qualify_resume(
|
|
CC.cruiseControl.resume, preferences=self.vehicle_startup_preferences, inputs=self.longitudinal_inputs)
|
|
|
|
hudControl = CC.hudControl
|
|
hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
|
|
hudControl.speedVisible = CC.enabled
|
|
hudControl.lanesVisible = CC.enabled
|
|
hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
|
|
hudControl.leadVisible = self.longitudinal_inputs.lead_visible(hudControl.leadVisible)
|
|
hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
|
|
hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
|
|
|
|
hudControl.rightLaneVisible = True
|
|
hudControl.leftLaneVisible = True
|
|
if self.sm.valid['driverAssistance']:
|
|
hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
|
|
hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
|
|
|
|
if CC.latActive:
|
|
CO = self.sm['carOutput']
|
|
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
|
|
STEER_ANGLE_SATURATION_THRESHOLD
|
|
else:
|
|
self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
|
|
|
|
else:
|
|
self.steer_limited_by_safety = False
|
|
|
|
# TODO: both controlsState and carControl valids should be set by
|
|
# sm.all_checks(), but this creates a circular dependency
|
|
|
|
# controlsState
|
|
dat = messaging.new_message('controlsState')
|
|
dat.valid = CS.canValid
|
|
cs = dat.controlsState
|
|
|
|
cs.curvature = self.curvature
|
|
cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
|
|
cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
|
|
cs.desiredCurvature = self.desired_curvature
|
|
cs.longControlState = self.LoC.long_control_state
|
|
cs.upAccelCmd = float(self.LoC.pid.p)
|
|
cs.uiAccelCmd = float(self.LoC.pid.i)
|
|
cs.ufAccelCmd = float(self.LoC.pid.f)
|
|
cs.forceDecel = bool(self.sm['driverMonitoringState'].noResponseForceDecel or
|
|
(self.sm['selfdriveState'].state == State.softDisabling))
|
|
|
|
# trigger the car's stock driver monitoring escalation
|
|
CC.driverMonitoringEscalation = cs.forceDecel
|
|
|
|
lat_tuning = self.CP.lateralTuning.which()
|
|
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
cs.lateralControlState.angleState = lac_log
|
|
elif self.CP.steerControlType == car.CarParams.SteerControlType.curvature:
|
|
cs.lateralControlState.curvatureState = lac_log
|
|
elif lat_tuning == 'pid':
|
|
cs.lateralControlState.pidState = lac_log
|
|
elif lat_tuning == 'torque':
|
|
cs.lateralControlState.torqueState = lac_log
|
|
|
|
self.pm.send('controlsState', dat)
|
|
|
|
# carControl
|
|
cc_send = messaging.new_message('carControl')
|
|
cc_send.valid = CS.canValid
|
|
cc_send.carControl = CC
|
|
self.pm.send('carControl', cc_send)
|
|
self.pm.send('starpilotLateralState', feedback_message(
|
|
self.last_lane_centering_result, self.lane_centering_applied, CC.latActive,
|
|
model_mono_time=self.sm.logMonoTime['modelV2'], car_control_mono_time=cc_send.logMonoTime,
|
|
valid=bool(CS.canValid and self.sm.all_checks(['modelV2']))))
|
|
|
|
def run(self):
|
|
rk = Ratekeeper(100, print_delay_threshold=None)
|
|
while True:
|
|
self.update()
|
|
CC, lac_log = self.state_control()
|
|
self.publish(CC, lac_log)
|
|
rk.monitor_time()
|
|
|
|
|
|
def main():
|
|
config_realtime_process(4, Priority.CTRL_HIGH)
|
|
controls = Controls()
|
|
controls.run()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|