79 lines
2.9 KiB
Python
79 lines
2.9 KiB
Python
import cereal.messaging as messaging
|
|
|
|
from openpilot.common.conversions import Conversions as CV
|
|
from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
|
|
from openpilot.selfdrive.controls.lib.longitudinal_planner import A_CRUISE_MIN, get_max_accel
|
|
|
|
from openpilot.selfdrive.frogpilot.functions.frogpilot_functions import CRUISING_SPEED, FrogPilotFunctions
|
|
|
|
class FrogPilotPlanner:
|
|
def __init__(self, CP, params, params_memory):
|
|
self.CP = CP
|
|
self.params_memory = params_memory
|
|
|
|
self.fpf = FrogPilotFunctions()
|
|
|
|
self.v_cruise = 0
|
|
|
|
self.accel_limits = [A_CRUISE_MIN, get_max_accel(0)]
|
|
|
|
self.update_frogpilot_params(params)
|
|
|
|
def update(self, carState, controlsState, modelData, mpc, sm, v_cruise, v_ego):
|
|
enabled = controlsState.enabled
|
|
|
|
# Configure the deceleration profile
|
|
if self.deceleration_profile == 1:
|
|
min_accel = self.fpf.get_min_accel_eco(v_ego)
|
|
elif self.deceleration_profile == 2:
|
|
min_accel = self.fpf.get_min_accel_sport(v_ego)
|
|
elif mpc.mode == 'acc':
|
|
min_accel = A_CRUISE_MIN
|
|
else:
|
|
min_accel = ACCEL_MIN
|
|
|
|
# Configure the acceleration profile
|
|
if self.acceleration_profile == 1:
|
|
max_accel = self.fpf.get_max_accel_eco(v_ego)
|
|
elif self.acceleration_profile in (2, 3):
|
|
max_accel = self.fpf.get_max_accel_sport(v_ego)
|
|
elif mpc.mode == 'acc':
|
|
max_accel = get_max_accel(v_ego)
|
|
else:
|
|
max_accel = ACCEL_MAX
|
|
|
|
self.accel_limits = [min_accel, max_accel]
|
|
|
|
# Update the max allowed speed
|
|
self.v_cruise = self.update_v_cruise(carState, controlsState, enabled, modelData, v_cruise, v_ego)
|
|
|
|
def update_v_cruise(self, carState, controlsState, enabled, modelData, v_cruise, v_ego):
|
|
# Offsets to adjust the max speed to match the cluster
|
|
v_ego_cluster = max(carState.vEgoCluster, v_ego)
|
|
v_ego_diff = v_ego_cluster - v_ego
|
|
|
|
v_cruise_cluster = max(controlsState.vCruiseCluster, controlsState.vCruise) * CV.KPH_TO_MS
|
|
v_cruise_diff = v_cruise_cluster - v_cruise
|
|
|
|
targets = []
|
|
filtered_targets = [target for target in targets if target > CRUISING_SPEED]
|
|
|
|
return min(filtered_targets) if filtered_targets else v_cruise
|
|
|
|
def publish(self, sm, pm, mpc):
|
|
frogpilot_plan_send = messaging.new_message('frogpilotPlan')
|
|
frogpilot_plan_send.valid = sm.all_checks(service_list=['carState', 'controlsState'])
|
|
frogpilotPlan = frogpilot_plan_send.frogpilotPlan
|
|
|
|
pm.send('frogpilotPlan', frogpilot_plan_send)
|
|
|
|
def update_frogpilot_params(self, params):
|
|
self.is_metric = params.get_bool("IsMetric")
|
|
|
|
custom_ui = params.get_bool("CustomUI")
|
|
|
|
longitudinal_tune = params.get_bool("LongitudinalTune")
|
|
self.acceleration_profile = params.get_int("AccelerationProfile") if longitudinal_tune else 0
|
|
self.deceleration_profile = params.get_int("DecelerationProfile") if longitudinal_tune else 0
|
|
self.aggressive_acceleration = longitudinal_tune and params.get_bool("AggressiveAcceleration")
|