mirror of
https://github.com/infiniteCable2/openpilot.git
synced 2026-09-04 15:23:42 +08:00
Jason Wen
082ea8119b
* Speed Limit Resolver: abstract more speed limit attributes * update ui * lint
109 lines
4.5 KiB
Python
109 lines
4.5 KiB
Python
"""
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Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
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This file is part of sunnypilot and is licensed under the MIT License.
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See the LICENSE.md file in the root directory for more details.
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"""
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from cereal import messaging, custom
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from opendbc.car import structs
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from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
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from openpilot.sunnypilot.selfdrive.controls.lib.smart_cruise_control.smart_cruise_control import SmartCruiseControl
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_resolver import SpeedLimitResolver
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from openpilot.sunnypilot.models.helpers import get_active_bundle
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DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
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Source = custom.LongitudinalPlanSP.LongitudinalPlanSource
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class LongitudinalPlannerSP:
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def __init__(self, CP: structs.CarParams, mpc):
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self.dec = DynamicExperimentalController(CP, mpc)
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self.scc = SmartCruiseControl()
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self.resolver = SpeedLimitResolver()
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self.generation = int(model_bundle.generation) if (model_bundle := get_active_bundle()) else None
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self.source = Source.cruise
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self.output_v_target = 0.
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self.output_a_target = 0.
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@property
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def mlsim(self) -> bool:
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# If we don't have a generation set, we assume it's default model. Which as of today are mlsim.
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return bool(self.generation is None or self.generation >= 11)
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def get_mpc_mode(self) -> str | None:
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if not self.dec.active():
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return None
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return self.dec.mode()
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def update_targets(self, sm: messaging.SubMaster, v_ego: float, a_ego: float, v_cruise: float) -> tuple[float, float]:
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self.scc.update(sm, v_ego, a_ego, v_cruise)
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# Speed Limit Resolver
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self.resolver.update(v_ego, sm)
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targets = {
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Source.cruise: (v_cruise, a_ego),
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Source.sccVision: (self.scc.vision.output_v_target, self.scc.vision.output_a_target),
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Source.sccMap: (self.scc.map.output_v_target, self.scc.map.output_a_target),
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}
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self.source = min(targets, key=lambda k: targets[k][0])
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self.output_v_target, self.output_a_target = targets[self.source]
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return self.output_v_target, self.output_a_target
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def update(self, sm: messaging.SubMaster) -> None:
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self.dec.update(sm)
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def publish_longitudinal_plan_sp(self, sm: messaging.SubMaster, pm: messaging.PubMaster) -> None:
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plan_sp_send = messaging.new_message('longitudinalPlanSP')
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plan_sp_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
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longitudinalPlanSP = plan_sp_send.longitudinalPlanSP
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longitudinalPlanSP.longitudinalPlanSource = self.source
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longitudinalPlanSP.vTarget = float(self.output_v_target)
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longitudinalPlanSP.aTarget = float(self.output_a_target)
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# Dynamic Experimental Control
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dec = longitudinalPlanSP.dec
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dec.state = DecState.blended if self.dec.mode() == 'blended' else DecState.acc
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dec.enabled = self.dec.enabled()
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dec.active = self.dec.active()
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# Smart Cruise Control
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smartCruiseControl = longitudinalPlanSP.smartCruiseControl
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# Vision Control
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sccVision = smartCruiseControl.vision
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sccVision.state = self.scc.vision.state
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sccVision.vTarget = float(self.scc.vision.output_v_target)
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sccVision.aTarget = float(self.scc.vision.output_a_target)
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sccVision.currentLateralAccel = float(self.scc.vision.current_lat_acc)
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sccVision.maxPredictedLateralAccel = float(self.scc.vision.max_pred_lat_acc)
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sccVision.enabled = self.scc.vision.is_enabled
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sccVision.active = self.scc.vision.is_active
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# Map Control
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sccMap = smartCruiseControl.map
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sccMap.state = self.scc.map.state
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sccMap.vTarget = float(self.scc.map.output_v_target)
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sccMap.aTarget = float(self.scc.map.output_a_target)
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sccMap.enabled = self.scc.map.is_enabled
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sccMap.active = self.scc.map.is_active
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# Speed Limit
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speedLimit = longitudinalPlanSP.speedLimit
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resolver = speedLimit.resolver
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resolver.speedLimit = float(self.resolver.speed_limit)
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resolver.speedLimitLast = float(self.resolver.speed_limit_last)
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resolver.speedLimitFinal = float(self.resolver.speed_limit_final)
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resolver.speedLimitFinalLast = float(self.resolver.speed_limit_final_last)
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resolver.speedLimitValid = self.resolver.speed_limit_valid
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resolver.speedLimitLastValid = self.resolver.speed_limit_last_valid
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resolver.speedLimitOffset = float(self.resolver.speed_limit_offset)
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resolver.distToSpeedLimit = float(self.resolver.distance)
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resolver.source = self.resolver.source
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pm.send('longitudinalPlanSP', plan_sp_send)
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