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dragonpilot
74 lines
3.1 KiB
Python
74 lines
3.1 KiB
Python
#!/usr/bin/env python3
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# The MIT License
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#
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# Copyright (c) 2019-, Rick Lan, dragonpilot community, and a number of other of contributors.
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#
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# Permission is hereby granted, free of charge, to any person obtaining a copy
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# of this software and associated documentation files (the "Software"), to deal
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# in the Software without restriction, including without limitation the rights
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# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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# copies of the Software, and to permit persons to whom the Software is
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# furnished to do so, subject to the following conditions:
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#
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# The above copyright notice and this permission notice shall be included in
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# all copies or substantial portions of the Software.
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#
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# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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# THE SOFTWARE.
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from openpilot.common.numpy_fast import interp
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DP_ACCEL_STOCK = 0
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DP_ACCEL_ECO = 1
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DP_ACCEL_NORMAL = 2
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DP_ACCEL_SPORT = 3
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# accel profile by @arne182 modified by cgw
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_DP_CRUISE_MIN_V = [-0.750, -0.750, -0.72, -0.72, -0.52, -0.40, -0.36, -0.32, -0.32, -0.25, -0.25]
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_DP_CRUISE_MIN_V_ECO = [-0.730, -0.730, -0.68, -0.68, -0.50, -0.36, -0.32, -0.28, -0.28, -0.25, -0.25]
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_DP_CRUISE_MIN_V_SPORT = [-0.750, -0.750, -0.75, -0.75, -0.54, -0.42, -0.40, -0.35, -0.35, -0.30, -0.30]
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_DP_CRUISE_MIN_BP = [0., 2.0, 2.01, 11., 11.01, 18., 18.01, 28., 28.01, 33., 55.]
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_DP_CRUISE_MAX_V = [3.5, 3.2, 2.6, 2.0, 1.3, 0.9, .71, .48, .36, .14]
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_DP_CRUISE_MAX_V_ECO = [3.5, 3.0, 1.6, 1.2, .76, .62, .48, .36, .28, .09]
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_DP_CRUISE_MAX_V_SPORT = [3.5, 3.5, 3.5, 3.5, 2.8, 2.0, 1.5, 1.0, .7, .5]
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_DP_CRUISE_MAX_BP = [0., 3, 6., 8., 11., 15., 20., 25., 30., 55.]
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class AccelController:
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def __init__(self):
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# self._params = Params()
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self._profile = DP_ACCEL_STOCK
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def set_profile(self, profile):
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try:
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self._profile = int(profile) if int(profile) in [DP_ACCEL_STOCK, DP_ACCEL_ECO, DP_ACCEL_NORMAL, DP_ACCEL_SPORT] else DP_ACCEL_STOCK
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except:
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self._profile = DP_ACCEL_STOCK
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def _dp_calc_cruise_accel_limits(self, v_ego):
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if self._profile == DP_ACCEL_ECO:
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min_v = _DP_CRUISE_MIN_V_ECO
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max_v = _DP_CRUISE_MAX_V_ECO
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elif self._profile == DP_ACCEL_SPORT:
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min_v = _DP_CRUISE_MIN_V_SPORT
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max_v = _DP_CRUISE_MAX_V_SPORT
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else:
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min_v = _DP_CRUISE_MIN_V
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max_v = _DP_CRUISE_MAX_V
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a_cruise_min = interp(v_ego, _DP_CRUISE_MIN_BP, min_v)
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a_cruise_max = interp(v_ego, _DP_CRUISE_MAX_BP, max_v)
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return a_cruise_min, a_cruise_max
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def get_accel_limits(self, v_ego, accel_limits):
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return accel_limits if self._profile == DP_ACCEL_STOCK else self._dp_calc_cruise_accel_limits(v_ego)
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def is_enabled(self):
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return self._profile != DP_ACCEL_STOCK
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