mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-07-13 04:52:07 +08:00
use button events instead of raw vals
This commit is contained in:
Jason Wen
@@ -11,6 +11,7 @@ from opendbc.car import structs
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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.sunnypilot.selfdrive.car.intelligent_cruise_button_management.helpers import get_minimum_set_speed
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.speed_limit_assist import ACTIVE_STATES as SLA_ACTIVE_STATES
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ButtonType = car.CarState.ButtonEvent.Type
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SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
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@@ -55,6 +56,7 @@ class VCruiseHelperSP:
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self.sla_state = SpeedLimitAssistState.disabled
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self.prev_sla_state = SpeedLimitAssistState.disabled
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self.speed_limit_final_last_kph = 0.
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self.prev_speed_limit_final_last_kph = 0.
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def read_custom_set_speed_params(self) -> None:
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self.custom_acc_enabled = self.params.get_bool("CustomAccIncrementsEnabled")
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@@ -103,12 +105,18 @@ class VCruiseHelperSP:
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self.speed_limit_final_last_kph = LP_SP.speedLimit.resolver.speedLimitFinalLast * CV.MS_TO_KPH
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self.sla_state = LP_SP.speedLimit.assist.state
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@property
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def update_speed_limit_final_last_changed(self) -> bool:
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return bool(self.speed_limit_final_last_kph != self.prev_speed_limit_final_last_kph)
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@property
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def update_speed_limit_assist_pre_active_confirmed(self) -> bool:
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return self.sla_state == SpeedLimitAssistState.active and self.prev_sla_state == SpeedLimitAssistState.preActive
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return self.sla_state == SpeedLimitAssistState.preActive or self.prev_sla_state == SpeedLimitAssistState.preActive
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def update_speed_limit_assist_v_cruise_non_pcm(self) -> None:
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if self.update_speed_limit_assist_pre_active_confirmed:
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if self.sla_state in SLA_ACTIVE_STATES and (self.prev_sla_state not in SLA_ACTIVE_STATES or
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self.update_speed_limit_final_last_changed):
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self.v_cruise_kph = np.clip(round(self.speed_limit_final_last_kph, 1), self.v_cruise_min, V_CRUISE_MAX)
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self.prev_sla_state = self.sla_state
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self.prev_speed_limit_final_last_kph = self.speed_limit_final_last_kph
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@@ -46,7 +46,8 @@ class LongitudinalPlannerSP:
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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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v_cruise_cluster_kph = min(sm['carState'].vCruiseCluster, V_CRUISE_MAX)
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CS = sm['carState']
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v_cruise_cluster_kph = min(CS.vCruiseCluster, V_CRUISE_MAX)
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v_cruise_cluster = v_cruise_cluster_kph * CV.KPH_TO_MS
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long_enabled = sm['carControl'].enabled
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@@ -63,7 +64,7 @@ class LongitudinalPlannerSP:
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# Speed Limit Assist
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has_speed_limit = self.resolver.speed_limit_valid or self.resolver.speed_limit_last_valid
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self.sla.update(long_enabled, long_override, v_ego, a_ego, v_cruise_cluster, self.resolver.speed_limit,
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self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp)
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self.resolver.speed_limit_final_last, has_speed_limit, self.resolver.distance, self.events_sp, CS)
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targets = {
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LongitudinalPlanSource.cruise: (v_cruise, a_ego),
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@@ -4,11 +4,10 @@ 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 custom
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from cereal import custom, car
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from openpilot.common.params import Params
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from openpilot.common.constants import CV
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from openpilot.common.realtime import DT_MDL
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from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
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from openpilot.sunnypilot import PARAMS_UPDATE_PERIOD
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from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
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from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
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@@ -16,6 +15,7 @@ from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit import PCM_LONG_REQ
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit.common import Mode
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from openpilot.selfdrive.modeld.constants import ModelConstants
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ButtonType = car.CarState.ButtonEvent.Type
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EventNameSP = custom.OnroadEventSP.EventName
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SpeedLimitAssistState = custom.LongitudinalPlanSP.SpeedLimit.AssistState
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SpeedLimitSource = custom.LongitudinalPlanSP.SpeedLimit.Source
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@@ -30,6 +30,10 @@ LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers
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LIMIT_MAX_ACC = 1.0 # m/s^2 Maximum acceleration allowed for limit controllers to provide while active.
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LIMIT_MIN_SPEED = 8.33 # m/s, Minimum speed limit to provide as solution on limit controllers.
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LIMIT_SPEED_OFFSET_TH = -1. # m/s Maximum offset between speed limit and current speed for adapting state.
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V_CRUISE_UNSET = 255
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CRUISE_BUTTONS_PLUS = (ButtonType.accelCruise, ButtonType.resumeCruise)
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CRUISE_BUTTONS_MINUS = (ButtonType.decelCruise, ButtonType.setCruise)
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class SpeedLimitAssist:
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@@ -140,19 +144,18 @@ class SpeedLimitAssist:
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else:
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self.state = SpeedLimitAssistState.pending
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def _update_non_pcm_long_confirmed_state(self):
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target_delta = self.target_set_speed_conv - self.prev_v_cruise_cluster_conv
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v_cruise_cluster_delta = self.v_cruise_cluster_conv - self.prev_v_cruise_cluster_conv
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if target_delta == 0:
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def _update_non_pcm_long_confirmed_state(self, CS) -> bool:
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if self.target_set_speed_confirmed:
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return True
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if v_cruise_cluster_delta == 0:
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if self.state != SpeedLimitAssistState.preActive:
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return False
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if self.state == SpeedLimitAssistState.preActive:
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return (target_delta > 0) == (v_cruise_cluster_delta > 0)
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req_plus = self.target_set_speed_conv > self.v_cruise_cluster_conv
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req_minus = self.target_set_speed_conv < self.v_cruise_cluster_conv
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expected = CRUISE_BUTTONS_PLUS if req_plus else CRUISE_BUTTONS_MINUS if req_minus else ()
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return False
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return any(b.type in expected and not b.pressed for b in CS.buttonEvents)
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def update_state_machine_pcm_op_long(self):
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self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
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@@ -217,7 +220,7 @@ class SpeedLimitAssist:
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return enabled, active
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def update_state_machine_non_pcm_long(self):
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def update_state_machine_non_pcm_long(self, CS: car.CarState):
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self.long_engaged_timer = max(0, self.long_engaged_timer - 1)
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self.pre_active_timer = max(0, self.pre_active_timer - 1)
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@@ -234,7 +237,7 @@ class SpeedLimitAssist:
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# PRE_ACTIVE
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elif self.state == SpeedLimitAssistState.preActive:
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if self._update_non_pcm_long_confirmed_state():
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if self._update_non_pcm_long_confirmed_state(CS):
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self.state = SpeedLimitAssistState.active
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elif self.pre_active_timer <= PRE_ACTIVE_GUARD_PERIOD:
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# Timeout - session ended
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@@ -245,7 +248,7 @@ class SpeedLimitAssist:
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if self.speed_limit_changed:
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self.state = SpeedLimitAssistState.preActive
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self.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
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elif self._update_non_pcm_long_confirmed_state():
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elif self._update_non_pcm_long_confirmed_state(CS):
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self.state = SpeedLimitAssistState.active
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# DISABLED
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@@ -256,7 +259,7 @@ class SpeedLimitAssist:
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self.long_engaged_timer = int(DISABLED_GUARD_PERIOD / DT_MDL)
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elif self.long_engaged_timer <= 0:
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if self._update_non_pcm_long_confirmed_state():
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if self._update_non_pcm_long_confirmed_state(CS):
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self.state = SpeedLimitAssistState.active
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else:
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self.state = SpeedLimitAssistState.preActive
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@@ -286,7 +289,7 @@ class SpeedLimitAssist:
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events_sp.add(EventNameSP.speedLimitChanged)
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def update(self, long_enabled: bool, long_override: bool, v_ego: float, a_ego: float, v_cruise_cluster: float, speed_limit: float,
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speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP) -> None:
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speed_limit_final_last: float, has_speed_limit: bool, distance: float, events_sp: EventsSP, CS: car.CarState) -> None:
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self.long_enabled = long_enabled
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self.v_ego = v_ego
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self.a_ego = a_ego
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@@ -303,7 +306,7 @@ class SpeedLimitAssist:
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if self.pcm_op_long:
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self.is_enabled, self.is_active = self.update_state_machine_pcm_op_long()
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else:
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self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long()
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self.is_enabled, self.is_active = self.update_state_machine_non_pcm_long(CS)
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self.update_events(events_sp)
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@@ -4,6 +4,7 @@ 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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import cereal.messaging as messaging
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from cereal import custom
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from opendbc.car.car_helpers import interfaces
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@@ -31,6 +32,11 @@ SPEED_LIMITS = {
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}
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def generate_carState():
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car_state = messaging.new_message('carState')
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return car_state
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class TestSpeedLimitAssist:
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def setup_method(self):
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@@ -39,6 +45,7 @@ class TestSpeedLimitAssist:
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self.events_sp = EventsSP()
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CI = self._setup_platform(TOYOTA.TOYOTA_RAV4_TSS2)
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self.sla = SpeedLimitAssist(CI.CP)
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self.sm = {'carState': generate_carState()}
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self.sla.pre_active_timer = int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)
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def teardown_method(self, method):
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@@ -84,58 +91,58 @@ class TestSpeedLimitAssist:
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def test_disabled(self):
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self.params.put("SpeedLimitMode", int(Mode.off))
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for _ in range(int(10. / DT_MDL)):
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.disabled
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def test_transition_disabled_to_preactive(self):
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for _ in range(int(3. / DT_MDL)):
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.preActive
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assert self.sla.is_enabled and not self.sla.is_active
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def test_preactive_to_active_with_max_speed_confirmation(self):
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self.sla.state = SpeedLimitAssistState.preActive
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.active
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assert self.sla.is_enabled and self.sla.is_active, f"enabled: {self.sla.is_enabled}, active: {self.sla.is_active}"
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assert self.sla.output_v_target == SPEED_LIMITS['city']
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def test_preactive_timeout_to_inactive(self):
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self.sla.state = SpeedLimitAssistState.preActive
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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for _ in range(int(PRE_ACTIVE_GUARD_PERIOD / DT_MDL)):
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, SPEED_LIMITS['highway'], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.inactive
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def test_preactive_to_pending_no_speed_limit(self):
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self.sla.state = SpeedLimitAssistState.preActive
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, 0, False, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, 0, False, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.pending
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assert self.sla.is_enabled and not self.sla.is_active
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def test_pending_to_active_when_speed_limit_available(self):
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self.sla.state = SpeedLimitAssistState.pending
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.active
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def test_pending_to_adapting_when_below_speed_limit(self):
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self.sla.state = SpeedLimitAssistState.pending
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self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'] + 5, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.adapting
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assert self.sla.is_enabled and self.sla.is_active
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def test_active_to_adapting_transition(self):
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self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
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self.sla.update(True, False, SPEED_LIMITS['city'] + 2, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'] + 2, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.adapting
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def test_adapting_to_active_transition(self):
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self.sla.state = SpeedLimitAssistState.adapting
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self.sla.v_cruise_cluster_prev = PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric]
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.active
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def test_manual_cruise_change_detection(self):
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@@ -144,7 +151,7 @@ class TestSpeedLimitAssist:
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self.sla.v_cruise_cluster_prev = expected_cruise
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different_cruise = SPEED_LIMITS['highway'] + 5
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, different_cruise, SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state == SpeedLimitAssistState.inactive
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def test_rapid_speed_limit_changes(self):
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@@ -152,7 +159,7 @@ class TestSpeedLimitAssist:
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speed_limits = [SPEED_LIMITS['city'], SPEED_LIMITS['highway'], SPEED_LIMITS['residential']]
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for _, speed_limit in enumerate(speed_limits):
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self.sla.update(True, False, speed_limit, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], speed_limit, speed_limit, True, 0, self.events_sp)
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self.sla.update(True, False, speed_limit, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], speed_limit, speed_limit, True, 0, self.events_sp, self.sm['carState'])
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assert self.sla.state in ACTIVE_STATES
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def test_invalid_speed_limits_handling(self):
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@@ -161,7 +168,7 @@ class TestSpeedLimitAssist:
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invalid_limits = [-10, 0, 200 * CV.MPH_TO_MS]
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for invalid_limit in invalid_limits:
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp)
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self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], invalid_limit, SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
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assert isinstance(self.sla.output_v_target, (int, float))
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assert self.sla.output_v_target == V_CRUISE_UNSET or self.sla.output_v_target > 0
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@@ -169,7 +176,7 @@ class TestSpeedLimitAssist:
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self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
|
||||
old_speed_limit = SPEED_LIMITS['city']
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, old_speed_limit, True, 0, self.events_sp)
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], 0, old_speed_limit, True, 0, self.events_sp, self.sm['carState'])
|
||||
assert self.sla.state in ACTIVE_STATES
|
||||
assert self.sla.output_v_target == old_speed_limit
|
||||
|
||||
@@ -181,7 +188,7 @@ class TestSpeedLimitAssist:
|
||||
current_speed = SPEED_LIMITS['highway']
|
||||
target_speed = SPEED_LIMITS['city']
|
||||
|
||||
self.sla.update(True, False, current_speed, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], target_speed, target_speed, True, distance, self.events_sp)
|
||||
self.sla.update(True, False, current_speed, 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], target_speed, target_speed, True, distance, self.events_sp, self.sm['carState'])
|
||||
assert self.sla.state == SpeedLimitAssistState.adapting
|
||||
assert self.sla.output_v_target == target_speed # TODO-SP: assert expected accel, need to enable self.acceleration_solutions
|
||||
|
||||
@@ -189,7 +196,7 @@ class TestSpeedLimitAssist:
|
||||
self.initialize_active_state(PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric])
|
||||
|
||||
self.sla.update(False, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'],
|
||||
SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
|
||||
assert self.sla.state == SpeedLimitAssistState.disabled
|
||||
assert self.sla.output_v_target == V_CRUISE_UNSET
|
||||
|
||||
@@ -208,7 +215,7 @@ class TestSpeedLimitAssist:
|
||||
|
||||
initial_state = state
|
||||
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp)
|
||||
self.sla.update(True, False, SPEED_LIMITS['city'], 0, PCM_LONG_REQUIRED_MAX_SET_SPEED[self.sla.is_metric], SPEED_LIMITS['city'], SPEED_LIMITS['city'], True, 0, self.events_sp, self.sm['carState'])
|
||||
|
||||
assert self.sla.state in ALL_STATES # Sanity check
|
||||
|
||||
|
||||
Reference in New Issue
Block a user