mirror of
https://github.com/sunnypilot/sunnypilot.git
synced 2026-02-19 01:53:57 +08:00
slc in another pr
This commit is contained in:
Jason Wen
@@ -195,14 +195,4 @@ inline static std::unordered_map<std::string, uint32_t> keys = {
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{"OsmLocationUrl", PERSISTENT},
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{"OsmWayTest", PERSISTENT},
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{"Offroad_OSMUpdateRequired", CLEAR_ON_MANAGER_START},
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// Speed Limit Control
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{"SpeedLimitControl", PERSISTENT | BACKUP},
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{"SpeedLimitControlPolicy", PERSISTENT | BACKUP},
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{"SpeedLimitEngageType", PERSISTENT | BACKUP},
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{"SpeedLimitOffsetType", PERSISTENT | BACKUP},
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{"SpeedLimitValueOffset", PERSISTENT | BACKUP},
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{"SpeedLimitWarningType", PERSISTENT | BACKUP},
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{"SpeedLimitWarningOffsetType", PERSISTENT | BACKUP},
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{"SpeedLimitWarningValueOffset", PERSISTENT | BACKUP},
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};
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@@ -144,9 +144,6 @@ class LongitudinalPlanner(LongitudinalPlannerSP):
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clipped_accel_coast_interp = np.interp(v_ego, [MIN_ALLOW_THROTTLE_SPEED, MIN_ALLOW_THROTTLE_SPEED*2], [accel_clip[1], clipped_accel_coast])
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accel_clip[1] = min(accel_clip[1], clipped_accel_coast_interp)
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# Get new v_cruise from Speed Limit Control
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v_cruise = LongitudinalPlannerSP.update_v_cruise(self, sm, not reset_state, self.v_desired_filter.x, self.a_desired, v_cruise)
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if force_slow_decel:
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v_cruise = 0.0
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@@ -19,8 +19,7 @@ def main():
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ldw = LaneDepartureWarning()
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longitudinal_planner = LongitudinalPlanner(CP)
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pm = messaging.PubMaster(['longitudinalPlan', 'driverAssistance', 'longitudinalPlanSP'])
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState',
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"liveMapDataSP", "carStateSP"],
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sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'liveParameters', 'radarState', 'modelV2', 'selfdriveState'],
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poll='modelV2')
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while True:
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@@ -88,7 +88,7 @@ class SelfdriveD(CruiseHelper):
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'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'livePose', 'liveDelay',
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'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters',
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'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userFlag'] + \
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self.camera_packets + self.sensor_packets + self.gps_packets + ["longitudinalPlanSP"],
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self.camera_packets + self.sensor_packets + self.gps_packets,
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ignore_alive=ignore, ignore_avg_freq=ignore,
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ignore_valid=ignore, frequency=int(1/DT_CTRL))
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@@ -196,7 +196,6 @@ class SelfdriveD(CruiseHelper):
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if not self.CP.notCar:
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self.events.add_from_msg(self.sm['driverMonitoringState'].events)
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self.events_sp.add_from_msg(self.sm['longitudinalPlanSP'].events)
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# Add car events, ignore if CAN isn't valid
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if CS.canValid:
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@@ -1,4 +1,3 @@
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from cereal import custom
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from openpilot.common.swaglog import cloudlog
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LOOK_AHEAD_HORIZON_TIME = 15. # s. Time horizon for look ahead of turn speed sections to provide on liveMapDataSP msg.
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@@ -7,20 +7,14 @@ See the LICENSE.md file in the root directory for more details.
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from cereal import messaging, custom
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from opendbc.car import structs
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from openpilot.selfdrive.car.cruise import V_CRUISE_UNSET
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from openpilot.sunnypilot.selfdrive.controls.lib.dec.dec import DynamicExperimentalController
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_controller import SpeedLimitController
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from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
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DecState = custom.LongitudinalPlanSP.DynamicExperimentalControl.DynamicExperimentalControlState
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class LongitudinalPlannerSP:
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def __init__(self, CP: structs.CarParams, mpc):
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self.events_sp = EventsSP()
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self.dec = DynamicExperimentalController(CP, mpc)
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self.slc = SpeedLimitController(CP)
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def get_mpc_mode(self) -> str | None:
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if not self.dec.active():
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@@ -28,17 +22,6 @@ class LongitudinalPlannerSP:
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return self.dec.mode()
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def update_v_cruise(self, sm: messaging.SubMaster, long_enabled: bool, v_ego: float, a_ego: float, v_cruise: float) -> float:
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self.events_sp.clear()
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self.slc.update(long_enabled, v_ego, a_ego, sm, v_cruise, self.events_sp)
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v_cruise_slc = self.slc.speed_limit_offseted if self.slc.is_active else V_CRUISE_UNSET
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v_cruise_final = min(v_cruise, v_cruise_slc)
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return v_cruise_final
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def update(self, sm: messaging.SubMaster) -> None:
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self.dec.update(sm)
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@@ -48,7 +31,6 @@ class LongitudinalPlannerSP:
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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.events = self.events_sp.to_msg()
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# Dynamic Experimental Control
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dec = longitudinalPlanSP.dec
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@@ -56,13 +38,4 @@ class LongitudinalPlannerSP:
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dec.enabled = self.dec.enabled()
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dec.active = self.dec.active()
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# Speed Limit Control
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slc = longitudinalPlanSP.slc
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slc.state = self.slc.state
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slc.enabled = self.slc.is_enabled
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slc.active = self.slc.is_active
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slc.speedLimit = float(self.slc.speed_limit)
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slc.speedLimitOffset = float(self.slc.speed_limit_offset)
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slc.distToSpeedLimit = float(self.slc.distance)
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pm.send('longitudinalPlanSP', plan_sp_send)
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@@ -1,19 +0,0 @@
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from cereal import custom
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DEBUG = True
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PARAMS_UPDATE_PERIOD = 2. # secs. Time between parameter updates.
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TEMP_INACTIVE_GUARD_PERIOD = 1. # secs. Time to wait after activation before considering temp deactivation signal.
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# Lookup table for speed limit percent offset depending on speed.
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LIMIT_PERC_OFFSET_V = [0.1, 0.05, 0.038] # 55, 105, 135 km/h
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LIMIT_PERC_OFFSET_BP = [13.9, 27.8, 36.1] # 50, 100, 130 km/h
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# Constants for Limit controllers.
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LIMIT_ADAPT_ACC = -1. # m/s^2 Ideal acceleration for the adapting (braking) phase when approaching speed limits.
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LIMIT_MIN_ACC = -1.5 # m/s^2 Maximum deceleration allowed for limit controllers to provide.
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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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LIMIT_MAX_MAP_DATA_AGE = 10. # s Maximum time to hold to map data, then consider it invalid inside limits controllers.
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SpeedLimitControlState = custom.LongitudinalPlanSP.SpeedLimitControlState
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@@ -1,26 +0,0 @@
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from enum import IntEnum
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class Source(IntEnum):
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none = 0
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car_state = 1
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map_data = 2
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class Policy(IntEnum):
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map_data_only = 0
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car_state_only = 1
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map_data_priority = 2
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car_state_priority = 3
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combined = 4
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class Engage(IntEnum):
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auto = 0
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user_confirm = 1
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class OffsetType(IntEnum):
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default = 0
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fixed = 1
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percentage = 2
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@@ -1,19 +0,0 @@
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import DEBUG, SpeedLimitControlState
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from openpilot.common.swaglog import cloudlog
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def debug(msg):
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if not DEBUG:
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return
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cloudlog.debug(msg)
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def description_for_state(speed_limit_control_state):
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if speed_limit_control_state == SpeedLimitControlState.inactive:
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return 'INACTIVE'
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if speed_limit_control_state == SpeedLimitControlState.tempInactive:
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return 'TEMP_INACTIVE'
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if speed_limit_control_state == SpeedLimitControlState.adapting:
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return 'ADAPTING'
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if speed_limit_control_state == SpeedLimitControlState.active:
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return 'ACTIVE'
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@@ -1,344 +0,0 @@
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from collections.abc import Callable
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import numpy as np
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import time
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from cereal import messaging, custom
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from openpilot.common.conversions import Conversions as CV
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from openpilot.common.params import Params
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V, \
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PARAMS_UPDATE_PERIOD, TEMP_INACTIVE_GUARD_PERIOD, LIMIT_SPEED_OFFSET_TH, SpeedLimitControlState
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from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy, Engage, OffsetType
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import description_for_state, debug
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from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver
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from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
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from openpilot.selfdrive.modeld.constants import ModelConstants
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EventNameSP = custom.OnroadEventSP.EventName
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ACTIVE_STATES = (SpeedLimitControlState.active, SpeedLimitControlState.adapting)
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ENABLED_STATES = (SpeedLimitControlState.preActive, SpeedLimitControlState.tempInactive, *ACTIVE_STATES)
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class SpeedLimitController:
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_speed_limit: float
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_distance: float
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_source: Source
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_v_ego: float
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_a_ego: float
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_v_offset: float
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def __init__(self, CP):
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self._params = Params()
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self._CP = CP
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self._policy = self._read_policy_param()
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self._resolver = SpeedLimitResolver(self._policy)
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self._last_params_update = 0.0
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self._last_op_engaged_time = 0.0
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self._is_metric = self._params.get_bool("IsMetric")
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self._is_enabled = self._params.get_bool("SpeedLimitControl")
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self._op_engaged = False
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self._op_engaged_prev = False
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self._v_ego = 0.
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self._a_ego = 0.
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self._v_offset = 0.
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self._v_cruise_setpoint = 0.
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self._v_cruise_setpoint_prev = 0.
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self._v_cruise_setpoint_changed = False
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self._speed_limit = 0.
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self._speed_limit_prev = 0.
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self._speed_limit_changed = False
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self._distance = 0.
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self._source = Source.none
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self._state = SpeedLimitControlState.inactive
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self._state_prev = SpeedLimitControlState.inactive
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self._gas_pressed = False
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self._pcm_cruise_op_long = CP.openpilotLongitudinalControl and CP.pcmCruise
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self._offset_type = OffsetType(self._read_int_param("SpeedLimitOffsetType"))
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self._offset_value = self._read_int_param("SpeedLimitValueOffset")
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self._warning_type = self._read_int_param("SpeedLimitWarningType")
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self._warning_offset_type = OffsetType(self._read_int_param("SpeedLimitWarningOffsetType"))
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self._warning_offset_value = self._read_int_param("SpeedLimitWarningValueOffset")
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self._engage_type = self._read_engage_type_param()
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self._current_time = 0.
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self._v_cruise_rounded = 0.
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self._v_cruise_prev_rounded = 0.
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self._speed_limit_offsetted_rounded = 0.
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self._speed_limit_warning_offsetted_rounded = 0.
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self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
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# Mapping functions to state transitions
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self.state_transition_strategy = {
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# Transition functions for each state
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SpeedLimitControlState.inactive: self.transition_state_from_inactive,
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SpeedLimitControlState.tempInactive: self.transition_state_from_temp_inactive,
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SpeedLimitControlState.adapting: self.transition_state_from_adapting,
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SpeedLimitControlState.active: self.transition_state_from_active,
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SpeedLimitControlState.preActive: self.transition_state_from_pre_active,
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}
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# FIXME-SP: unused?
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# Solution functions mapped to respective states
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self.acceleration_solutions = {
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# Solution functions for each state
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SpeedLimitControlState.tempInactive: self.get_current_acceleration_as_target,
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SpeedLimitControlState.inactive: self.get_current_acceleration_as_target,
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SpeedLimitControlState.adapting: self.get_adapting_state_target_acceleration,
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SpeedLimitControlState.active: self.get_active_state_target_acceleration,
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SpeedLimitControlState.preActive: self.get_current_acceleration_as_target,
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}
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@property
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def state(self) -> SpeedLimitControlState:
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return self._state
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@state.setter
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def state(self, value) -> None:
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if value != self._state:
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debug(f'Speed Limit Controller state: {description_for_state(value)}')
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if value == SpeedLimitControlState.tempInactive:
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# Reset previous speed limit to current value as to prevent going out of tempInactive in
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# a single cycle when the speed limit changes at the same time the user has temporarily deactivated it.
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self._speed_limit_prev = self._speed_limit
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self._state = value
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@property
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def is_enabled(self) -> bool:
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return self.state in ENABLED_STATES and self._is_enabled
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@property
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def is_active(self) -> bool:
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return self.state in ACTIVE_STATES and self._is_enabled
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@property
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def speed_limit_offseted(self) -> float:
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return self._speed_limit + self.speed_limit_offset
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@property
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def speed_limit_offset(self) -> float:
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return self._get_offset(self._offset_type, self._offset_value)
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@property
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def speed_limit_warning_offset(self) -> float:
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return self._get_offset(self._warning_offset_type, self._warning_offset_value)
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@property
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def speed_limit(self) -> float:
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return self._speed_limit
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@property
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def distance(self) -> float:
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return self._distance
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@property
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def source(self) -> Source:
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return self._source
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def _get_offset(self, offset_type: OffsetType, offset_value: int) -> float:
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if offset_type == OffsetType.default:
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return float(np.interp(self._speed_limit, LIMIT_PERC_OFFSET_BP, LIMIT_PERC_OFFSET_V) * self._speed_limit)
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elif offset_type == OffsetType.fixed:
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return offset_value * (CV.KPH_TO_MS if self._is_metric else CV.MPH_TO_MS)
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elif offset_type == OffsetType.percentage:
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return offset_value * 0.01 * self._speed_limit
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else:
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raise NotImplementedError("Offset not supported")
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def _update_v_cruise_setpoint_prev(self) -> None:
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self._v_cruise_setpoint_prev = self._v_cruise_setpoint
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def _update_params(self) -> None:
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if self._current_time > self._last_params_update + PARAMS_UPDATE_PERIOD:
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self._is_enabled = self._params.get_bool("SpeedLimitControl")
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self._offset_type = OffsetType(self._read_int_param("SpeedLimitOffsetType"))
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self._offset_value = self._read_int_param("SpeedLimitValueOffset")
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self._warning_type = self._read_int_param("SpeedLimitWarningType")
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self._warning_offset_type = OffsetType(self._read_int_param("SpeedLimitWarningOffsetType"))
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self._warning_offset_value = self._read_int_param("SpeedLimitWarningValueOffset")
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self._policy = self._read_policy_param()
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self._is_metric = self._params.get_bool("IsMetric")
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self._speed_factor = CV.MS_TO_KPH if self._is_metric else CV.MS_TO_MPH
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self._resolver.change_policy(self._policy)
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self._engage_type = self._read_engage_type_param()
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self._last_params_update = self._current_time
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def _read_policy_param(self) -> Policy:
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try:
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return Policy(int(self._params.get("SpeedLimitControlPolicy", encoding='utf8')))
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except (ValueError, TypeError):
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return Policy.car_state_priority
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def _read_engage_type_param(self) -> Engage:
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if self._pcm_cruise_op_long:
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return Engage.auto
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return Engage(self._read_int_param("SpeedLimitEngageType", validator=lambda x: np.clip(x, Engage.auto, Engage.user_confirm)))
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def _read_int_param(self, key: str, default: int = 0, validator: Callable[[int], int] = None) -> int:
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try:
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val = int(self._params.get(key, encoding='utf8'))
|
||||
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||||
if validator is not None:
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return validator(val)
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return val
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except (ValueError, TypeError):
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return default
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def _update_calculations(self) -> None:
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# Update current velocity offset (error)
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self._v_offset = self.speed_limit_offseted - self._v_ego
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# Track the time op becomes active to prevent going to tempInactive right away after
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||||
# op enabling since controlsd will change the cruise speed every time on enabling and this will
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# cause a temp inactive transition if the controller is updated before controlsd sets actual cruise
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# speed.
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||||
if not self._op_engaged_prev and self._op_engaged:
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||||
self._last_op_engaged_time = self._current_time
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||||
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||||
# Update change tracking variables
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||||
self._speed_limit_changed = self._speed_limit != self._speed_limit_prev
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||||
self._v_cruise_setpoint_changed = self._v_cruise_setpoint != self._v_cruise_setpoint_prev
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||||
self._speed_limit_prev = self._speed_limit
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||||
if self._engage_type != Engage.user_confirm:
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||||
self._update_v_cruise_setpoint_prev()
|
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self._op_engaged_prev = self._op_engaged
|
||||
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||||
self._v_cruise_rounded = int(round(self._v_cruise_setpoint * self._speed_factor))
|
||||
self._v_cruise_prev_rounded = int(round(self._v_cruise_setpoint_prev * self._speed_factor))
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||||
self._speed_limit_offsetted_rounded = 0 if self._speed_limit == 0 else int(round((self._speed_limit + self.speed_limit_offset) * self._speed_factor))
|
||||
self._speed_limit_warning_offsetted_rounded = 0 if self._speed_limit == 0 else \
|
||||
int(round((self._speed_limit + self.speed_limit_warning_offset) * self._speed_factor))
|
||||
|
||||
def transition_state_from_inactive(self) -> None:
|
||||
""" Make state transition from inactive state """
|
||||
if self._engage_type == Engage.user_confirm:
|
||||
if (((self._last_op_engaged_time + 7.) >= self._current_time >= (self._last_op_engaged_time + 2.)) or
|
||||
self._speed_limit_changed):
|
||||
if self._speed_limit_changed:
|
||||
self._last_op_engaged_time = self._current_time - 2. # immediately prompt confirmation
|
||||
self.state = SpeedLimitControlState.preActive
|
||||
elif self._engage_type == Engage.auto:
|
||||
if self._v_offset < LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitControlState.adapting
|
||||
else:
|
||||
self.state = SpeedLimitControlState.active
|
||||
|
||||
def transition_state_from_temp_inactive(self) -> None:
|
||||
""" Make state transition from temporary inactive state """
|
||||
if self._speed_limit_changed:
|
||||
if self._engage_type == Engage.user_confirm:
|
||||
self._last_op_engaged_time = self._current_time - 2. # immediately prompt confirmation
|
||||
self.state = SpeedLimitControlState.preActive
|
||||
elif self._engage_type == Engage.auto:
|
||||
self.state = SpeedLimitControlState.inactive
|
||||
|
||||
def transition_state_from_pre_active(self) -> None:
|
||||
""" Make state transition from preActive state """
|
||||
if self._current_time >= (self._last_op_engaged_time + 7.):
|
||||
self.state = SpeedLimitControlState.inactive
|
||||
elif (self._last_op_engaged_time + 7.) > self._current_time > (self._last_op_engaged_time + 2.):
|
||||
if self._speed_limit_changed:
|
||||
self._last_op_engaged_time = self._current_time - 2. # immediately prompt confirmation
|
||||
elif self._v_cruise_prev_rounded < self._speed_limit_offsetted_rounded:
|
||||
if self._v_cruise_setpoint > self._v_cruise_setpoint_prev:
|
||||
self.state = SpeedLimitControlState.active
|
||||
elif self._v_cruise_prev_rounded > self._speed_limit_offsetted_rounded:
|
||||
if self._v_cruise_setpoint < self._v_cruise_setpoint_prev:
|
||||
self.state = SpeedLimitControlState.active
|
||||
elif self._v_cruise_prev_rounded == self._speed_limit_offsetted_rounded:
|
||||
self.state = SpeedLimitControlState.active
|
||||
|
||||
def transition_state_from_adapting(self) -> None:
|
||||
""" Make state transition from adapting state """
|
||||
if self._v_offset >= LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitControlState.active
|
||||
|
||||
def transition_state_from_active(self) -> None:
|
||||
""" Make state transition from active state """
|
||||
if self._engage_type == Engage.user_confirm:
|
||||
if self._state_prev == SpeedLimitControlState.active:
|
||||
if self._v_cruise_setpoint_changed and self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
|
||||
self.state = SpeedLimitControlState.tempInactive
|
||||
elif self._speed_limit_changed:
|
||||
self._last_op_engaged_time = self._current_time - 2. # immediately prompt confirmation
|
||||
self.state = SpeedLimitControlState.preActive
|
||||
elif self._engage_type == Engage.auto:
|
||||
if self._v_offset < LIMIT_SPEED_OFFSET_TH:
|
||||
self.state = SpeedLimitControlState.adapting
|
||||
|
||||
def _state_transition(self) -> None:
|
||||
self._state_prev = self._state
|
||||
|
||||
# In any case, if op is disabled, or speed limit control is disabled
|
||||
# or the reported speed limit is 0 or gas is pressed, deactivate.
|
||||
if not self._op_engaged or not self._is_enabled or self._speed_limit == 0:
|
||||
self.state = SpeedLimitControlState.inactive
|
||||
return
|
||||
|
||||
# In any case, we deactivate the speed limit controller temporarily if the user changes the cruise speed.
|
||||
# Ignore if a minimum amount of time has not passed since activation. This is to prevent temp inactivations
|
||||
# due to controlsd logic changing cruise setpoint when going active.
|
||||
if self._engage_type == Engage.auto and self._v_cruise_setpoint_changed and \
|
||||
self._current_time > (self._last_op_engaged_time + TEMP_INACTIVE_GUARD_PERIOD):
|
||||
self.state = SpeedLimitControlState.tempInactive
|
||||
return
|
||||
|
||||
self.state_transition_strategy[self.state]()
|
||||
|
||||
if self._engage_type == Engage.user_confirm:
|
||||
self._update_v_cruise_setpoint_prev()
|
||||
|
||||
def get_current_acceleration_as_target(self) -> float:
|
||||
""" When state is inactive or tempInactive, preserve current acceleration """
|
||||
return self._a_ego
|
||||
|
||||
def get_adapting_state_target_acceleration(self) -> float:
|
||||
""" In adapting state, calculate target acceleration based on speed limit and current velocity """
|
||||
if self.distance > 0:
|
||||
return (self.speed_limit_offseted ** 2 - self._v_ego ** 2) / (2. * self.distance)
|
||||
|
||||
return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
|
||||
|
||||
def get_active_state_target_acceleration(self) -> float:
|
||||
""" In active state, aim to keep speed constant around control time horizon """
|
||||
return self._v_offset / float(ModelConstants.T_IDXS[CONTROL_N])
|
||||
|
||||
def _update_events(self, events_sp: EventsSP) -> None:
|
||||
if self._speed_limit > 0 and self._warning_type == 2 and \
|
||||
self._speed_limit_warning_offsetted_rounded < int(round(self._v_ego * self._speed_factor)):
|
||||
events_sp.add(EventNameSP.speedLimitPreActive)
|
||||
|
||||
if not self.is_active:
|
||||
if self._state == SpeedLimitControlState.preActive and self._state_prev != SpeedLimitControlState.preActive and \
|
||||
self._v_cruise_rounded != self._speed_limit_offsetted_rounded:
|
||||
events_sp.add(EventNameSP.speedLimitPreActive)
|
||||
else:
|
||||
if self._engage_type == Engage.user_confirm:
|
||||
if self._state_prev == SpeedLimitControlState.preActive:
|
||||
events_sp.add(EventNameSP.speedLimitConfirmed)
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
elif self._engage_type == Engage.auto:
|
||||
if self._state_prev not in ACTIVE_STATES:
|
||||
events_sp.add(EventNameSP.speedLimitActive)
|
||||
elif self._speed_limit_changed != 0:
|
||||
events_sp.add(EventNameSP.speedLimitValueChange)
|
||||
|
||||
def update(self, enabled: bool, v_ego: float, a_ego: float, sm: messaging.SubMaster, v_cruise_setpoint: float, events_sp: EventsSP) -> None:
|
||||
_car_state = sm['carState']
|
||||
self._op_engaged = enabled and self._CP.openpilotLongitudinalControl
|
||||
self._v_ego = v_ego
|
||||
self._a_ego = a_ego
|
||||
self._v_cruise_setpoint = v_cruise_setpoint
|
||||
self._gas_pressed = _car_state.gasPressed
|
||||
self._current_time = time.monotonic()
|
||||
|
||||
self._speed_limit, self._distance, self._source = self._resolver.resolve(v_ego, self.speed_limit, sm)
|
||||
|
||||
self._update_params()
|
||||
self._update_calculations()
|
||||
self._state_transition()
|
||||
self._update_events(events_sp)
|
||||
@@ -1,125 +0,0 @@
|
||||
import time
|
||||
import numpy as np
|
||||
|
||||
from cereal import messaging, custom
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE, LIMIT_ADAPT_ACC
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.helpers import debug
|
||||
|
||||
|
||||
class SpeedLimitResolver:
|
||||
_sm: messaging.SubMaster
|
||||
_limit_solutions: dict[Source, float] # Store for speed limit solutions from different sources
|
||||
_distance_solutions: dict[Source, float] # Store for distance to current speed limit start for different sources
|
||||
_v_ego: float
|
||||
_current_speed_limit: float
|
||||
|
||||
def __init__(self, policy: Policy):
|
||||
self._limit_solutions = {}
|
||||
self._distance_solutions = {}
|
||||
|
||||
self._policy = policy
|
||||
self._policy_to_sources_map = {
|
||||
Policy.car_state_only: [Source.car_state],
|
||||
Policy.car_state_priority: [Source.car_state, Source.map_data],
|
||||
Policy.map_data_priority: [Source.map_data, Source.car_state],
|
||||
Policy.map_data_only: [Source.map_data],
|
||||
Policy.combined: [Source.car_state, Source.map_data],
|
||||
}
|
||||
for source in Source:
|
||||
self._reset_limit_sources(source)
|
||||
|
||||
def change_policy(self, policy: Policy) -> None:
|
||||
self._policy = policy
|
||||
|
||||
def _reset_limit_sources(self, source: Source) -> None:
|
||||
self._limit_solutions[source] = 0.
|
||||
self._distance_solutions[source] = 0.
|
||||
|
||||
def _is_sock_updated(self, sock: str) -> bool:
|
||||
return self._sm.alive[sock] and self._sm.updated[sock]
|
||||
|
||||
def resolve(self, v_ego: float, current_speed_limit: float, sm: messaging.SubMaster) -> tuple[float, float, Source]:
|
||||
self._v_ego = v_ego
|
||||
self._current_speed_limit = current_speed_limit
|
||||
self._sm = sm
|
||||
|
||||
self._resolve_limit_sources()
|
||||
return self._consolidate()
|
||||
|
||||
def _resolve_limit_sources(self) -> None:
|
||||
"""Get limit solutions from each data source"""
|
||||
self._get_from_car_state()
|
||||
self._get_from_map_data()
|
||||
|
||||
def _get_from_car_state(self) -> None:
|
||||
if not self._is_sock_updated('carStateSP'):
|
||||
debug('SL: No carStateSP instruction for speed limit')
|
||||
return
|
||||
|
||||
self._reset_limit_sources(Source.car_state)
|
||||
self._limit_solutions[Source.car_state] = self._sm['carStateSP'].speedLimit
|
||||
self._distance_solutions[Source.car_state] = 0.
|
||||
|
||||
def _get_from_map_data(self) -> None:
|
||||
if not self._is_sock_updated("liveMapDataSP"):
|
||||
debug('SL: No map data for speed limit')
|
||||
return
|
||||
|
||||
# Load limits from map_data
|
||||
self._reset_limit_sources(Source.map_data)
|
||||
self._process_map_data(self._sm["liveMapDataSP"])
|
||||
|
||||
def _process_map_data(self, map_data: custom.LiveMapDataSP) -> None:
|
||||
gps_fix_age = time.time() - map_data.lastGpsTimestamp * 1e-3
|
||||
if gps_fix_age > LIMIT_MAX_MAP_DATA_AGE:
|
||||
debug(f'SL: Ignoring map data as is too old. Age: {gps_fix_age}')
|
||||
return
|
||||
|
||||
speed_limit = map_data.speedLimit if map_data.speedLimitValid else 0.
|
||||
next_speed_limit = map_data.speedLimitAhead if map_data.speedLimitAheadValid else 0.
|
||||
|
||||
self._calculate_map_data_limits(speed_limit, next_speed_limit, map_data)
|
||||
|
||||
def _calculate_map_data_limits(self, speed_limit: float, next_speed_limit: float, map_data: custom.LiveMapDataSP) -> None:
|
||||
distance_since_fix = self._v_ego * (time.time() - map_data.lastGpsTimestamp * 1e-3)
|
||||
distance_to_speed_limit_ahead = max(0., map_data.speedLimitAheadDistance - distance_since_fix)
|
||||
|
||||
self._limit_solutions[Source.map_data] = speed_limit
|
||||
self._distance_solutions[Source.map_data] = 0.
|
||||
|
||||
if 0. < next_speed_limit < self._v_ego:
|
||||
adapt_time = (next_speed_limit - self._v_ego) / LIMIT_ADAPT_ACC
|
||||
adapt_distance = self._v_ego * adapt_time + 0.5 * LIMIT_ADAPT_ACC * adapt_time ** 2
|
||||
|
||||
if distance_to_speed_limit_ahead <= adapt_distance:
|
||||
self._limit_solutions[Source.map_data] = next_speed_limit
|
||||
self._distance_solutions[Source.map_data] = distance_to_speed_limit_ahead
|
||||
|
||||
def _consolidate(self) -> tuple[float, float, Source]:
|
||||
source = self._get_source_solution_according_to_policy()
|
||||
self.speed_limit = self._limit_solutions[source] if source else 0.
|
||||
self.distance = self._distance_solutions[source] if source else 0.
|
||||
self.source = source or Source.none
|
||||
|
||||
debug(f'SL: *** Speed Limit set: {self.speed_limit}, distance: {self.distance}, source: {self.source}')
|
||||
return self.speed_limit, self.distance, self.source
|
||||
|
||||
def _get_source_solution_according_to_policy(self) -> Source | None:
|
||||
sources_for_policy = self._policy_to_sources_map[self._policy]
|
||||
|
||||
if self._policy != Policy.combined:
|
||||
# They are ordered in the order of preference, so we pick the first that's non zero
|
||||
for source in sources_for_policy:
|
||||
if self._limit_solutions[source] > 0.:
|
||||
return Source(source)
|
||||
|
||||
limits = np.array([self._limit_solutions[source] for source in sources_for_policy], dtype=float)
|
||||
sources = np.array([source.value for source in sources_for_policy], dtype=int)
|
||||
|
||||
if len(limits) > 0:
|
||||
min_idx = np.argmin(limits)
|
||||
return Source(sources[min_idx])
|
||||
|
||||
return None
|
||||
@@ -1,78 +0,0 @@
|
||||
"""
|
||||
Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
|
||||
|
||||
This file is part of sunnypilot and is licensed under the MIT License.
|
||||
See the LICENSE.md file in the root directory for more details.
|
||||
"""
|
||||
from cereal import custom
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events import EventsSP
|
||||
|
||||
EventNameSP = custom.OnroadEventSP.EventName
|
||||
State = custom.LongitudinalPlanSP.SpeedLimitControlState
|
||||
|
||||
ACTIVE_STATES = (State.active, State.adapting)
|
||||
ENABLED_STATES = (State.preActive, State.tempInactive, *ACTIVE_STATES)
|
||||
|
||||
|
||||
class StateMachine:
|
||||
def __init__(self):
|
||||
self.state = State.inactive
|
||||
|
||||
def update(self, events_sp: EventsSP) -> tuple[bool, bool]:
|
||||
# INACTIVE
|
||||
if self.state == State.inactive:
|
||||
if events_sp.has(EventNameSP.speedLimitEnable):
|
||||
self.state = State.preActive
|
||||
elif events_sp.has(EventNameSP.speedLimitAdapting):
|
||||
self.state = State.adapting
|
||||
elif events_sp.has(EventNameSP.speedLimitActive):
|
||||
self.state = State.active
|
||||
|
||||
# PRE ACTIVE
|
||||
elif self.state == State.preActive:
|
||||
if events_sp.has(EventNameSP.speedLimitDisable):
|
||||
self.state = State.inactive
|
||||
elif events_sp.has(EventNameSP.speedLimitUserCancel):
|
||||
self.state = State.inactive
|
||||
elif events_sp.has(EventNameSP.speedLimitUserConfirm):
|
||||
self.state = State.active
|
||||
elif events_sp.has(EventNameSP.speedLimitActive):
|
||||
self.state = State.active
|
||||
|
||||
# ACTIVE
|
||||
elif self.state == State.active:
|
||||
if events_sp.has(EventNameSP.speedLimitDisable):
|
||||
self.state = State.inactive
|
||||
elif events_sp.has(EventNameSP.speedLimitUserCancel):
|
||||
self.state = State.tempInactive
|
||||
elif events_sp.has(EventNameSP.speedLimitAdapting):
|
||||
self.state = State.adapting
|
||||
elif events_sp.has(EventNameSP.speedLimitValueChange):
|
||||
# For user confirm mode, transition to preActive on speed limit change
|
||||
if events_sp.has(EventNameSP.speedLimitEnable):
|
||||
self.state = State.preActive
|
||||
|
||||
# ADAPTING
|
||||
elif self.state == State.adapting:
|
||||
if events_sp.has(EventNameSP.speedLimitDisable):
|
||||
self.state = State.inactive
|
||||
elif events_sp.has(EventNameSP.speedLimitUserCancel):
|
||||
self.state = State.tempInactive
|
||||
elif events_sp.has(EventNameSP.speedLimitReached):
|
||||
self.state = State.active
|
||||
|
||||
# TEMP INACTIVE
|
||||
elif self.state == State.tempInactive:
|
||||
if events_sp.has(EventNameSP.speedLimitDisable):
|
||||
self.state = State.inactive
|
||||
elif events_sp.has(EventNameSP.speedLimitValueChange):
|
||||
# When speed limit changes, reactivate
|
||||
if events_sp.has(EventNameSP.speedLimitEnable):
|
||||
self.state = State.preActive
|
||||
else:
|
||||
self.state = State.inactive
|
||||
|
||||
enabled = self.state in ENABLED_STATES
|
||||
active = self.state in ACTIVE_STATES
|
||||
|
||||
return enabled, active
|
||||
@@ -1,128 +0,0 @@
|
||||
import random
|
||||
import time
|
||||
|
||||
import pytest
|
||||
from pytest_mock import MockerFixture
|
||||
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller import LIMIT_MAX_MAP_DATA_AGE
|
||||
|
||||
# from selfdrive.controls.lib.speed_limit_controller_tbd import SpeedLimitResolver as OriginalSpeedLimitResolver
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.speed_limit_resolver import SpeedLimitResolver as RefactoredSpeedLimitResolver
|
||||
from openpilot.sunnypilot.selfdrive.controls.lib.speed_limit_controller.common import Source, Policy
|
||||
|
||||
|
||||
def create_mock(properties, mocker: MockerFixture):
|
||||
mock = mocker.MagicMock()
|
||||
for _property, value in properties.items():
|
||||
setattr(mock, _property, value)
|
||||
return mock
|
||||
|
||||
|
||||
def setup_sm_mock(mocker: MockerFixture):
|
||||
cruise_speed_limit = random.uniform(0, 120)
|
||||
live_map_data_limit = random.uniform(0, 120)
|
||||
|
||||
car_state = create_mock({
|
||||
'gasPressed': False,
|
||||
'brakePressed': False,
|
||||
'standstill': False,
|
||||
}, mocker)
|
||||
car_state_sp = create_mock({
|
||||
'speedLimit': cruise_speed_limit,
|
||||
}, mocker)
|
||||
live_map_data = create_mock({
|
||||
'speedLimit': live_map_data_limit,
|
||||
'speedLimitValid': True,
|
||||
'speedLimitAhead': 0.,
|
||||
'speedLimitAheadValid': 0.,
|
||||
'speedLimitAheadDistance': 0.,
|
||||
'lastGpsTimestamp': time.time() * 1e3,
|
||||
}, mocker)
|
||||
sm_mock = mocker.MagicMock()
|
||||
sm_mock.__getitem__.side_effect = lambda key: {
|
||||
'carState': car_state,
|
||||
'liveMapDataSP': live_map_data,
|
||||
'carStateSP': car_state_sp,
|
||||
}[key]
|
||||
return sm_mock
|
||||
|
||||
|
||||
parametrized_policies = pytest.mark.parametrize(
|
||||
"policy, sm_key, function_key", [
|
||||
(Policy.car_state_only, 'carStateSP', 'car_state'),
|
||||
(Policy.car_state_priority, 'carStateSP', 'car_state'),
|
||||
(Policy.map_data_only, 'liveMapDataSP', 'map_data'),
|
||||
(Policy.map_data_priority, 'liveMapDataSP', 'map_data'),
|
||||
],
|
||||
ids=lambda val: val.name if hasattr(val, 'name') else str(val)
|
||||
)
|
||||
|
||||
|
||||
@pytest.mark.parametrize("resolver_class", [RefactoredSpeedLimitResolver], ids=["Refactored"])
|
||||
class TestSpeedLimitResolverValidation:
|
||||
|
||||
@pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
|
||||
def test_initial_state(self, resolver_class, policy):
|
||||
resolver = resolver_class(policy)
|
||||
for source in Source:
|
||||
if source in resolver._limit_solutions:
|
||||
assert resolver._limit_solutions[source] == 0.
|
||||
assert resolver._distance_solutions[source] == 0.
|
||||
|
||||
@parametrized_policies
|
||||
def test_resolver(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
|
||||
resolver = resolver_class(policy)
|
||||
sm_mock = setup_sm_mock(mocker)
|
||||
source_speed_limit = sm_mock[sm_key].speedLimit
|
||||
|
||||
# Assert the resolver
|
||||
speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
|
||||
assert speed_limit == source_speed_limit
|
||||
assert source == Source[function_key]
|
||||
|
||||
def test_resolver_combined(self, resolver_class, mocker: MockerFixture):
|
||||
resolver = resolver_class(Policy.combined)
|
||||
sm_mock = setup_sm_mock(mocker)
|
||||
socket_to_source = {'carStateSP': Source.car_state, 'liveMapDataSP': Source.map_data}
|
||||
minimum_key, minimum_speed_limit = min(
|
||||
((key, sm_mock[key].speedLimit) for key in
|
||||
socket_to_source.keys()), key=lambda x: x[1])
|
||||
|
||||
# Assert the resolver
|
||||
speed_limit, _, source = resolver.resolve(minimum_speed_limit, 0, sm_mock)
|
||||
assert speed_limit == minimum_speed_limit
|
||||
assert source == socket_to_source[minimum_key]
|
||||
|
||||
@parametrized_policies
|
||||
def test_parser(self, resolver_class, policy, sm_key, function_key, mocker: MockerFixture):
|
||||
resolver = resolver_class(policy)
|
||||
sm_mock = setup_sm_mock(mocker)
|
||||
source_speed_limit = sm_mock[sm_key].speedLimit
|
||||
|
||||
# Assert the parsing
|
||||
speed_limit, _, source = resolver.resolve(source_speed_limit, 0, sm_mock)
|
||||
assert resolver._limit_solutions[Source[function_key]] == source_speed_limit
|
||||
assert resolver._distance_solutions[Source[function_key]] == 0.
|
||||
|
||||
@pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
|
||||
def test_resolve_interaction_in_update(self, resolver_class, policy, mocker: MockerFixture):
|
||||
v_ego = 50
|
||||
resolver = resolver_class(policy)
|
||||
|
||||
sm_mock = setup_sm_mock(mocker)
|
||||
_speed_limit, _distance, _source = resolver.resolve(v_ego, 0, sm_mock)
|
||||
|
||||
# After resolution
|
||||
assert _speed_limit is not None
|
||||
assert _distance is not None
|
||||
assert _source is not None
|
||||
|
||||
@pytest.mark.parametrize("policy", list(Policy), ids=lambda policy: policy.name)
|
||||
def test_old_map_data_ignored(self, resolver_class, policy, mocker: MockerFixture):
|
||||
resolver = resolver_class(policy)
|
||||
sm_mock = mocker.MagicMock()
|
||||
sm_mock['liveMapDataSP'].lastGpsTimestamp = (time.time() - 2 * LIMIT_MAX_MAP_DATA_AGE) * 1e3
|
||||
resolver._sm = sm_mock
|
||||
resolver._get_from_map_data()
|
||||
assert resolver._limit_solutions[Source.map_data] == 0.
|
||||
assert resolver._distance_solutions[Source.map_data] == 0.
|
||||
@@ -1,6 +1,4 @@
|
||||
import cereal.messaging as messaging
|
||||
from cereal import log, car, custom
|
||||
from openpilot.common.conversions import Conversions as CV
|
||||
from openpilot.sunnypilot.selfdrive.selfdrived.events_base import EventsBase, Priority, ET, Alert, \
|
||||
NoEntryAlert, ImmediateDisableAlert, EngagementAlert, NormalPermanentAlert, AlertCallbackType, wrong_car_mode_alert
|
||||
|
||||
@@ -16,17 +14,6 @@ EventNameSP = custom.OnroadEventSP.EventName
|
||||
EVENT_NAME_SP = {v: k for k, v in EventNameSP.schema.enumerants.items()}
|
||||
|
||||
|
||||
def speed_limit_adjust_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int, personality) -> Alert:
|
||||
speedLimit = sm['longitudinalPlanSP'].slc.speedLimit
|
||||
speed = round(speedLimit * (CV.MS_TO_KPH if metric else CV.MS_TO_MPH))
|
||||
message = f'Adjusting to {speed} {"km/h" if metric else "mph"} speed limit'
|
||||
return Alert(
|
||||
message,
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 4.)
|
||||
|
||||
|
||||
class EventsSP(EventsBase):
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
@@ -145,34 +132,6 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
|
||||
|
||||
EventNameSP.pedalPressedAlertOnly: {
|
||||
ET.WARNING: NoEntryAlert("Pedal Pressed")
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitPreActive: {
|
||||
ET.WARNING: Alert(
|
||||
"",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.none, .45), # TODO-SP: AudibleAlert.promptSingleLow
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitActive: {
|
||||
ET.WARNING: Alert(
|
||||
"Set speed changed to match posted speed limit",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.small,
|
||||
Priority.LOW, VisualAlert.none, AudibleAlert.none, 3.),
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitConfirmed: {
|
||||
ET.WARNING: Alert(
|
||||
"",
|
||||
"",
|
||||
AlertStatus.normal, AlertSize.none,
|
||||
Priority.MID, VisualAlert.none, AudibleAlert.none, .45), # TODO-SP: AudibleAlert.promptSingleHigh
|
||||
},
|
||||
|
||||
EventNameSP.speedLimitValueChange: {
|
||||
ET.WARNING: speed_limit_adjust_alert,
|
||||
},
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
@@ -63,15 +63,6 @@ def manager_init() -> None:
|
||||
("ModelManager_ModelsCache", ""),
|
||||
("NeuralNetworkLateralControl", "0"),
|
||||
("QuietMode", "0"),
|
||||
|
||||
("SpeedLimitControl", "0"),
|
||||
("SpeedLimitControlPolicy", "3"),
|
||||
("SpeedLimitEngageType", "0"),
|
||||
("SpeedLimitOffsetType", "0"),
|
||||
("SpeedLimitValueOffset", "0"),
|
||||
("SpeedLimitWarningType", "0"),
|
||||
("SpeedLimitWarningOffsetType", "0"),
|
||||
("SpeedLimitWarningValueOffset", "0"),
|
||||
]
|
||||
|
||||
if params.get_bool("RecordFrontLock"):
|
||||
|
||||
Reference in New Issue
Block a user