241 lines
10 KiB
Python
Executable File
241 lines
10 KiB
Python
Executable File
#!/usr/bin/env python3
|
|
import math
|
|
from numbers import Number
|
|
|
|
from cereal import car, log
|
|
import cereal.messaging as messaging
|
|
from openpilot.common.constants import CV
|
|
from openpilot.common.params import Params
|
|
from openpilot.common.realtime import config_realtime_process, DT_CTRL, Priority, Ratekeeper
|
|
from openpilot.common.swaglog import cloudlog
|
|
|
|
from opendbc.car.car_helpers import interfaces
|
|
from opendbc.car.vehicle_model import VehicleModel
|
|
from openpilot.selfdrive.controls.lib.drive_helpers import clip_curvature
|
|
from openpilot.selfdrive.controls.lib.latcontrol import LatControl
|
|
from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
|
|
from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
|
|
from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
|
|
from openpilot.selfdrive.controls.lib.longcontrol import LongControl
|
|
from openpilot.selfdrive.modeld.modeld import LAT_SMOOTH_SECONDS
|
|
from openpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
|
|
|
|
State = log.SelfdriveState.OpenpilotState
|
|
LaneChangeState = log.LaneChangeState
|
|
LaneChangeDirection = log.LaneChangeDirection
|
|
|
|
ACTUATOR_FIELDS = tuple(car.CarControl.Actuators.schema.fields.keys())
|
|
|
|
|
|
class Controls:
|
|
def __init__(self) -> None:
|
|
self.params = Params()
|
|
cloudlog.info("controlsd is waiting for CarParams")
|
|
self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
|
|
cloudlog.info("controlsd got CarParams")
|
|
|
|
self.CI = interfaces[self.CP.carFingerprint](self.CP)
|
|
|
|
self.sm = messaging.SubMaster(['liveDelay', 'liveParameters', 'liveTorqueParameters', 'modelV2', 'selfdriveState',
|
|
'liveCalibration', 'livePose', 'longitudinalPlan', 'carState', 'carOutput',
|
|
'driverMonitoringState', 'onroadEvents', 'driverAssistance'], poll='selfdriveState')
|
|
self.pm = messaging.PubMaster(['carControl', 'controlsState', 'dpControlsState'])
|
|
|
|
self.steer_limited_by_safety = False
|
|
self.curvature = 0.0
|
|
self.desired_curvature = 0.0
|
|
|
|
self.pose_calibrator = PoseCalibrator()
|
|
self.calibrated_pose: Pose | None = None
|
|
|
|
self.LoC = LongControl(self.CP)
|
|
self.VM = VehicleModel(self.CP)
|
|
self.LaC: LatControl
|
|
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
self.LaC = LatControlAngle(self.CP, self.CI, DT_CTRL)
|
|
elif self.CP.lateralTuning.which() == 'pid':
|
|
self.LaC = LatControlPID(self.CP, self.CI, DT_CTRL)
|
|
elif self.CP.lateralTuning.which() == 'torque':
|
|
self.LaC = LatControlTorque(self.CP, self.CI, DT_CTRL)
|
|
|
|
self.alka_enabled = self.params.get_bool("dp_lat_alka")
|
|
self.alka_active = False
|
|
|
|
def update(self):
|
|
self.sm.update(15)
|
|
if self.sm.updated["liveCalibration"]:
|
|
self.pose_calibrator.feed_live_calib(self.sm['liveCalibration'])
|
|
if self.sm.updated["livePose"]:
|
|
device_pose = Pose.from_live_pose(self.sm['livePose'])
|
|
self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
|
|
|
|
def state_control(self):
|
|
CS = self.sm['carState']
|
|
|
|
# Update VehicleModel
|
|
lp = self.sm['liveParameters']
|
|
x = max(lp.stiffnessFactor, 0.1)
|
|
sr = max(lp.steerRatio, 0.1)
|
|
self.VM.update_params(x, sr)
|
|
|
|
steer_angle_without_offset = math.radians(CS.steeringAngleDeg - lp.angleOffsetDeg)
|
|
self.curvature = -self.VM.calc_curvature(steer_angle_without_offset, CS.vEgo, lp.roll)
|
|
|
|
# Update Torque Params
|
|
if self.CP.lateralTuning.which() == 'torque':
|
|
torque_params = self.sm['liveTorqueParameters']
|
|
if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
|
|
self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
|
|
torque_params.frictionCoefficientFiltered)
|
|
|
|
long_plan = self.sm['longitudinalPlan']
|
|
model_v2 = self.sm['modelV2']
|
|
|
|
CC = car.CarControl.new_message()
|
|
CC.enabled = self.sm['selfdriveState'].enabled
|
|
|
|
# Check which actuators can be enabled
|
|
standstill = abs(CS.vEgo) <= max(self.CP.minSteerSpeed, 0.3) or CS.standstill
|
|
self.alka_active = self.alka_enabled and CS.cruiseState.available and not standstill and CS.gearShifter != car.CarState.GearShifter.reverse
|
|
lat_active = self.sm['selfdriveState'].active or self.alka_active
|
|
CC.latActive = lat_active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
|
|
(not standstill or self.CP.steerAtStandstill)
|
|
CC.longActive = CC.enabled and not any(e.overrideLongitudinal for e in self.sm['onroadEvents']) and self.CP.openpilotLongitudinalControl
|
|
|
|
actuators = CC.actuators
|
|
actuators.longControlState = self.LoC.long_control_state
|
|
|
|
# Enable blinkers while lane changing
|
|
if model_v2.meta.laneChangeState != LaneChangeState.off:
|
|
CC.leftBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.left
|
|
CC.rightBlinker = model_v2.meta.laneChangeDirection == LaneChangeDirection.right
|
|
|
|
if not CC.latActive:
|
|
self.LaC.reset()
|
|
if not CC.longActive:
|
|
self.LoC.reset()
|
|
|
|
# accel PID loop
|
|
pid_accel_limits = self.CI.get_pid_accel_limits(self.CP, CS.vEgo, CS.vCruise * CV.KPH_TO_MS)
|
|
actuators.accel = float(self.LoC.update(CC.longActive, CS, long_plan.aTarget, long_plan.shouldStop, pid_accel_limits))
|
|
|
|
# Steering PID loop and lateral MPC
|
|
# Reset desired curvature to current to avoid violating the limits on engage
|
|
new_desired_curvature = model_v2.action.desiredCurvature if CC.latActive else self.curvature
|
|
self.desired_curvature, curvature_limited = clip_curvature(CS.vEgo, self.desired_curvature, new_desired_curvature, lp.roll)
|
|
lat_delay = self.sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
|
|
|
|
actuators.curvature = self.desired_curvature
|
|
steer, steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
|
|
self.steer_limited_by_safety, self.desired_curvature,
|
|
curvature_limited, lat_delay)
|
|
actuators.torque = float(steer)
|
|
actuators.steeringAngleDeg = float(steeringAngleDeg)
|
|
# Ensure no NaNs/Infs
|
|
for p in ACTUATOR_FIELDS:
|
|
attr = getattr(actuators, p)
|
|
if not isinstance(attr, Number):
|
|
continue
|
|
|
|
if not math.isfinite(attr):
|
|
cloudlog.error(f"actuators.{p} not finite {actuators.to_dict()}")
|
|
setattr(actuators, p, 0.0)
|
|
|
|
return CC, lac_log
|
|
|
|
def publish(self, CC, lac_log):
|
|
CS = self.sm['carState']
|
|
|
|
# Orientation and angle rates can be useful for carcontroller
|
|
# Only calibrated (car) frame is relevant for the carcontroller
|
|
CC.currentCurvature = self.curvature
|
|
if self.calibrated_pose is not None:
|
|
CC.orientationNED = self.calibrated_pose.orientation.xyz.tolist()
|
|
CC.angularVelocity = self.calibrated_pose.angular_velocity.xyz.tolist()
|
|
|
|
CC.cruiseControl.override = CC.enabled and not CC.longActive and self.CP.openpilotLongitudinalControl
|
|
CC.cruiseControl.cancel = CS.cruiseState.enabled and (not CC.enabled or not self.CP.pcmCruise)
|
|
CC.cruiseControl.resume = CC.enabled and CS.cruiseState.standstill and not self.sm['longitudinalPlan'].shouldStop
|
|
|
|
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.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 self.sm['selfdriveState'].active:
|
|
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
|
|
|
|
# TODO: both controlsState and carControl valids should be set by
|
|
# sm.all_checks(), but this creates a circular dependency
|
|
|
|
# dpControlsState
|
|
dat = messaging.new_message('dpControlsState')
|
|
dat.valid = True
|
|
ncs = dat.dpControlsState
|
|
ncs.alkaActive = self.alka_active
|
|
self.pm.send('dpControlsState', dat)
|
|
|
|
# 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'].awarenessStatus < 0.) or
|
|
(self.sm['selfdriveState'].state == State.softDisabling))
|
|
|
|
lat_tuning = self.CP.lateralTuning.which()
|
|
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
|
|
cs.lateralControlState.angleState = 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)
|
|
|
|
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()
|