275 lines
11 KiB
Python
Executable File
275 lines
11 KiB
Python
Executable File
#!/usr/bin/env python3
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import math
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from numbers import Number
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from cereal import car, log
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import 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_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.sunnypilot.selfdrive.controls.controlsd_ext import ControlsExt
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# ==========================================
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# ++ 新增：匯入 HTD 模組 ++
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# ==========================================
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from openpilot.sunnypilot.selfdrive.controls.lib.human_turn_detection import HumanTurnDetection, HTDState
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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(ControlsExt):
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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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# Initialize sunnypilot controlsd extension and base model state
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ControlsExt.__init__(self, self.CP, self.params)
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self.CI = interfaces[self.CP.carFingerprint](self.CP, self.CP_SP)
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self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
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'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
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'driverMonitoringState', 'onroadEvents', 'driverAssistance', 'liveDelay'] + self.sm_services_ext,
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poll='selfdriveState')
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self.pm = messaging.PubMaster(['carControl', 'controlsState'] + self.pm_services_ext)
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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.pose_calibrator = PoseCalibrator()
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self.calibrated_pose: Pose | None = 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.CP_SP, self.CI, DT_CTRL)
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elif self.CP.lateralTuning.which() == 'pid':
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self.LaC = LatControlPID(self.CP, self.CP_SP, self.CI, DT_CTRL)
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elif self.CP.lateralTuning.which() == 'torque':
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self.LaC = LatControlTorque(self.CP, self.CP_SP, self.CI, DT_CTRL)
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self.LaC = ControlsExt.initialize_lateral_control(self, self.LaC, self.CI, DT_CTRL)
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# ==========================================
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# ++ 新增：初始化 HTD ++
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# ==========================================
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self.htd = HumanTurnDetection()
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self.htd_state = HTDState.INACTIVE
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def update(self):
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self.sm.update(15)
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if self.sm.updated["liveCalibration"]:
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self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
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if self.sm.updated["livePose"]:
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device_pose = Pose.from_live_pose(self.sm['livePose'])
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self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
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def state_control(self):
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CS = self.sm['carState']
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# Update VehicleModel
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lp = self.sm['liveParameters']
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x = max(lp.stiffnessFactor, 0.1)
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sr = max(lp.steerRatio, 0.1)
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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':
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torque_params = self.sm['liveTorqueParameters']
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if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
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self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
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torque_params.frictionCoefficientFiltered)
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self.LaC.extension.update_limits()
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self.LaC.extension.update_model_v2(self.sm['modelV2'])
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self.LaC.extension.update_lateral_lag(self.lat_delay)
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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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# Get which state to use for active lateral control
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_lat_active = self.get_lat_active(self.sm)
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# ==========================================
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# ++ 新增：HTD (人工接管大轉彎判斷) 邏輯 ++
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# ==========================================
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# 1. 永遠執行 update 以記錄扭力與角度數據
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htd_allowed, self.htd_state = self.htd.update(
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_lat_active,
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CS.cruiseState.enabled,
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CS.steeringAngleDeg,
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CS.steeringTorque,
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CS.vEgo,
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CS.steeringPressed
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)
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# 2. 如果 HTD 有在 UI 啟用，則根據判斷結果覆寫 _lat_active
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if self.htd._enabled:
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_lat_active = _lat_active and htd_allowed
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# ==========================================
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CC.latActive = _lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
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(not standstill or self.CP.steerAtStandstill)
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CC.longActive = CC.enabled and (self.CP.openpilotLongitudinalControl or not self.CP_SP.pcmCruiseSpeed)
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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, self.CP_SP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
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override_longitudinal = any(e.overrideLongitudinal for e in self.sm['onroadEvents'])
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actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop,
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pid_accel_limits, freeze_integrator=override_longitudinal))
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# Steering PID loop and lateral MPC
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new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
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self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
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lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
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actuators.curvature = self.desired_curvature
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steer, steeringAngleDeg, 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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self.calibrated_pose, curvature_limited, lat_delay)
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actuators.torque = float(steer)
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actuators.steeringAngleDeg = float(steeringAngleDeg)
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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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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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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 or not self.CP_SP.pcmCruiseSpeed)
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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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hudControl = CC.hudControl
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hudControl.setSpeed = float(CS.vCruiseCluster * CV.KPH_TO_MS)
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hudControl.speedVisible = CC.enabled
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hudControl.lanesVisible = CC.enabled
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hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
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hudControl.leadDistanceBars = self.sm['selfdriveState'].personality.raw + 1
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hudControl.visualAlert = self.sm['selfdriveState'].alertHudVisual
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hudControl.rightLaneVisible = True
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hudControl.leftLaneVisible = True
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if self.sm.valid['driverAssistance']:
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hudControl.leftLaneDepart = self.sm['driverAssistance'].leftLaneDeparture
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hudControl.rightLaneDepart = self.sm['driverAssistance'].rightLaneDeparture
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if self.get_lat_active(self.sm):
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CO = self.sm['carOutput']
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if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
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self.steer_limited_by_safety = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \
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STEER_ANGLE_SATURATION_THRESHOLD
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else:
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self.steer_limited_by_safety = abs(CC.actuators.torque - CO.actuatorsOutput.torque) > 1e-2
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# controlsState
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dat = messaging.new_message('controlsState')
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dat.valid = CS.canValid
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cs = dat.controlsState
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cs.curvature = self.curvature
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cs.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
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cs.lateralPlanMonoTime = self.sm.logMonoTime['modelV2']
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cs.desiredCurvature = self.desired_curvature
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cs.longControlState = self.LoC.long_control_state
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cs.upAccelCmd = float(self.LoC.pid.p)
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cs.uiAccelCmd = float(self.LoC.pid.i)
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cs.ufAccelCmd = float(self.LoC.pid.f)
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cs.forceDecel = bool((self.sm['driverMonitoringState'].awarenessStatus < 0.) or
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(self.sm['selfdriveState'].state == State.softDisabling))
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lat_tuning = self.CP.lateralTuning.which()
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if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
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cs.lateralControlState.angleState = lac_log
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elif lat_tuning == 'pid':
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cs.lateralControlState.pidState = lac_log
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elif lat_tuning == 'torque':
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cs.lateralControlState.torqueState = lac_log
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self.pm.send('controlsState', dat)
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# carControl
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cc_send = messaging.new_message('carControl')
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cc_send.valid = CS.canValid
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cc_send.carControl = CC
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self.pm.send('carControl', cc_send)
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def run(self):
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rk = Ratekeeper(100, print_delay_threshold=None)
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while True:
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self.update()
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CC, lac_log = self.state_control()
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self.publish(CC, lac_log)
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self.get_params_sp(self.sm)
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self.run_ext(self.sm, self.pm)
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rk.monitor_time()
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def main():
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config_realtime_process(4, Priority.CTRL_HIGH)
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controls = Controls()
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controls.run()
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if __name__ == "__main__":
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main()
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