IQ.Pilot Prebuilt Release @ 27f668a
This commit is contained in:
IQ.Lvbs CI [bot]
807
iqpilot/selfdrive/selfdrived/selfdrived.py
Executable file
807
iqpilot/selfdrive/selfdrived/selfdrived.py
Executable file
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#!/usr/bin/env python3
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import os
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import time
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import threading
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import iqpilot.cereal.messaging as messaging
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from iqpilot.cereal import car, log, custom
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from iqpilot.cereal.visionipc import VisionStreamType
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from msgq.visionipc import VisionIpcClient
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from iqpilot.common.params import Params
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from iqpilot.common.issue_debug import log_issue_limited
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from iqpilot.common.realtime import config_background_thread, config_realtime_process, lock_memory, Priority, Ratekeeper, DT_CTRL
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from iqpilot.common.swaglog import cloudlog
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from iqpilot.common.gps import get_gps_location_service
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from iqpilot.selfdrive.car.car_specific import CarSpecificEvents
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from iqpilot.selfdrive.locationd.helpers import PoseCalibrator, Pose
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from iqpilot.selfdrive.selfdrived.events import Events, ET
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from iqpilot.selfdrive.selfdrived.helpers import ExcessiveActuationCheck
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from iqpilot.selfdrive.selfdrived.state import StateMachine
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from iqpilot.selfdrive.selfdrived.alertmanager import AlertManager, set_offroad_alert
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from iqpilot.selfdrive.longitudinal_settings import get_runtime_personality
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from iqpilot.system.version import get_build_metadata
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from iqpilot.system.hardware import HARDWARE
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from iqpilot.sab.behavior import SteeringAssistanceBehavior
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from iqpilot.selfdrive.controls.lib.helpers.lane_change import NAV_EXIT_COMMIT_DISTANCE
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from iqpilot.vehicle.vehicle import VehicleEvents
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from iqpilot.selfdrive.car.gap_button_actions import GapButtonActions
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from iqpilot.selfdrive.selfdrived.iq_events import IQEvents
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REPLAY = "REPLAY" in os.environ
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SIMULATION = "SIMULATION" in os.environ
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TESTING_CLOSET = "TESTING_CLOSET" in os.environ
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WIDE_CAM_FAULTY_ALERT_FRAMES = int(300. / DT_CTRL)
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LONGITUDINAL_PERSONALITY_MAP = {v: k for k, v in log.LongitudinalPersonality.schema.enumerants.items()}
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ThermalStatus = log.DeviceState.ThermalStatus
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State = log.SelfdriveState.OpenpilotState
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PandaType = log.PandaState.PandaType
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LaneChangeState = log.LaneChangeState
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LaneChangeDirection = log.LaneChangeDirection
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EventName = log.OnroadEvent.EventName
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ButtonType = car.CarState.ButtonEvent.Type
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SafetyModel = car.CarParams.SafetyModel
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TurnDirection = custom.IQTurnSignalDirection
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IGNORED_SAFETY_MODES = (SafetyModel.silent, SafetyModel.noOutput)
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NON_BLOCKING_PROCESSES = {'mapd', 'iqmapd', 'navd', 'navincidentd', 'navrenderd'}
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def _cleanup_startup_params(CP: car.CarParams, params: Params) -> None:
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if not CP.alphaLongitudinalAvailable or not CP.openpilotLongitudinalControl:
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return
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class SelfdriveD(GapButtonActions):
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def __init__(self, CP=None, CP_IQ=None):
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self.params = Params()
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# Ensure the current branch is cached, otherwise the first cycle lags
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build_metadata = get_build_metadata()
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if CP is None:
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cloudlog.info("selfdrived is waiting for CarParams")
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self.CP = messaging.log_from_bytes(self.params.get("CarParams", block=True), car.CarParams)
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cloudlog.info("selfdrived got CarParams")
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else:
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self.CP = CP
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if CP_IQ is None:
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cloudlog.info("selfdrived is waiting for IQCarParams")
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self.CP_IQ = messaging.log_from_bytes(self.params.get("IQCarParams", block=True), custom.IQCarParams)
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cloudlog.info("selfdrived got IQCarParams")
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else:
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self.CP_IQ = CP_IQ
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self.car_events = CarSpecificEvents(self.CP)
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self.pose_calibrator = PoseCalibrator()
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self.calibrated_pose: Pose | None = None
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self.excessive_actuation_check = ExcessiveActuationCheck()
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self.excessive_actuation = self.params.get("Offroad_ExcessiveActuation") is not None
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# Setup sockets
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self.pm = messaging.PubMaster(['selfdriveState', 'onroadEvents'] + ['iqState', 'iqOnroadEvents'])
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self.gps_location_service = get_gps_location_service(self.params)
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self.gps_packets = [self.gps_location_service]
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self.sensor_packets = ["accelerometer", "gyroscope"]
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self.camera_packets = ["roadCameraState", "driverCameraState", "wideRoadCameraState"]
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if os.path.exists('/tmp/lite_hw'):
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self.camera_packets.remove("driverCameraState")
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# TODO: de-couple selfdrived with card/conflate on carState without introducing controls mismatches
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self.car_state_sock = messaging.sub_sock('carState', timeout=20)
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ignore = self.sensor_packets + self.gps_packets + ['alertDebug', 'lateralManeuverPlan', 'iqDriveModelData', 'iqNavState', 'vehicleParameters', 'driverAssistance', 'testJoystick']
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if os.path.exists('/tmp/lite_hw'):
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ignore += ['driverCameraState', 'driverMonitoringState']
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if SIMULATION:
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ignore += ['driverCameraState', 'managerState']
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if REPLAY:
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# no vipc in replay will make them ignored anyways
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ignore += ['roadCameraState', 'wideRoadCameraState', 'userBookmark', 'iqPlan']
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self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'extrinsicsCalibration',
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'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'deviceMotion', 'lateralDelay',
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'managerState', 'vehicleParameters', 'radarState', 'lateralTorqueParameters',
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'controlsState', 'carControl', 'driverAssistance', 'alertDebug', 'userBookmark', 'audioFeedback',
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'lateralManeuverPlan',
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'iqDriveModelData', 'iqNavState', 'iqPlan', 'testJoystick'] + \
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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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# read params
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self.is_metric = self.params.get_bool("IsMetric")
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self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
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self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
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self.nav_exit_lane_change = self._read_nav_exit_lane_change()
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self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
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car_recognized = self.CP.brand != 'mock'
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_cleanup_startup_params(self.CP, self.params)
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self.CS_prev = car.CarState.new_message()
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self.AM = AlertManager()
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self.events = Events()
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self.initialized = False
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self.big_model_loading = False
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self.big_model_active = False
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self.big_model_failed = False
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self.enabled = False
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self.active = False
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self.mismatch_counter = 0
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self.cruise_mismatch_counter = 0
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self.last_steering_pressed_frame = 0
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self.distance_traveled = 0
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self.last_functional_fan_frame = 0
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self.events_prev = []
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self.logged_comm_issue = None
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self.not_running_prev = None
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self.wide_cam_faulty = False
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self.experimental_mode = False
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self.personality = get_runtime_personality(self.params)
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self.recalibrating_seen = False
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self.state_machine = StateMachine()
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self.rk = Ratekeeper(100, print_delay_threshold=None)
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self.ignored_processes = set(NON_BLOCKING_PROCESSES)
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nvme_expected = os.path.exists('/dev/nvme0n1') or (not os.path.isfile("/persist/comma/living-in-the-moment"))
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if HARDWARE.get_device_type() == 'tici' and nvme_expected:
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self.ignored_processes.add('loggerd')
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# Determine startup event
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is_remote = build_metadata.openpilot.comma_remote or build_metadata.openpilot.iqpilot_remote
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self.startup_event = EventName.startup if is_remote and build_metadata.tested_channel else EventName.startupMaster
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if HARDWARE.get_device_type() == 'mici':
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self.startup_event = None
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if not car_recognized:
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self.startup_event = EventName.startupNoCar
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elif car_recognized and self.CP.passive:
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self.startup_event = EventName.startupNoControl
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elif self.CP.secOcRequired and not self.CP.secOcKeyAvailable:
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self.startup_event = EventName.startupNoSecOcKey
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if not car_recognized:
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self.events.add(EventName.carUnrecognized, static=True)
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set_offroad_alert("Offroad_CarUnrecognized", True)
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elif self.CP.passive:
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self.events.add(EventName.dashcamMode, static=True)
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self.events_iq = IQEvents()
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self.events_iq_prev = []
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self._cached_dm_event_names: tuple[int, ...] = ()
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self._cached_plan_event_names: tuple[int, ...] = ()
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self._cached_model_event_names: tuple[int, ...] = ()
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self._cached_nav_event_names: tuple[int, ...] = ()
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self.aol = SteeringAssistanceBehavior(self)
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self.car_events_iq = VehicleEvents(self.CP, self.CP_IQ)
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GapButtonActions.__init__(self, self.CP)
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def _add_iq_event_names(self, event_names: tuple[int, ...] | list[int]) -> None:
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for event_name in event_names:
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self.events_iq.add(event_name)
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def _add_event_names(self, event_names: tuple[int, ...] | list[int]) -> None:
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for event_name in event_names:
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self.events.add(event_name)
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def _refresh_cached_plan_events(self) -> None:
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if self.sm.updated['iqPlan']:
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self._cached_plan_event_names = tuple(event.name.raw for event in self._get_longitudinal_plan_ext().events)
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def _refresh_cached_dm_events(self) -> None:
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if self.sm.updated['driverMonitoringState']:
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self._cached_dm_event_names = tuple(event.name.raw for event in self.sm['driverMonitoringState'].events)
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def _refresh_cached_model_events(self) -> None:
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if not self.sm.updated['iqDriveModelData']:
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return
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model_data = self._get_model_data_ext()
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model_events = []
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if model_data.lateralEdgeBlock != custom.IQLateralEdgeBlock.none:
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model_events.append(custom.IQOnroadEvent.EventName.lateralEdgeBlocked)
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lane_turn_direction = model_data.turnSignalDirection
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if lane_turn_direction == TurnDirection.turnLeft:
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model_events.append(custom.IQOnroadEvent.EventName.modelTurnLeft)
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elif lane_turn_direction == TurnDirection.turnRight:
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model_events.append(custom.IQOnroadEvent.EventName.modelTurnRight)
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self._cached_model_event_names = tuple(model_events)
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def _read_nav_exit_lane_change(self) -> bool:
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try:
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return self.params.get_bool("NavExitLaneChange")
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except Exception:
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return False
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def _refresh_cached_nav_events(self) -> None:
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if not self.sm.updated['iqNavState']:
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return
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nav_state = self.sm['iqNavState']
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nav_events: list[int] = []
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if getattr(nav_state, 'active', False):
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if getattr(nav_state, 'navTurnDesireDirection', 0) == 1:
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nav_events.append(custom.IQOnroadEvent.EventName.navTurnLeft)
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elif getattr(nav_state, 'navTurnDesireDirection', 0) == 2:
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nav_events.append(custom.IQOnroadEvent.EventName.navTurnRight)
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elif self.nav_exit_lane_change and \
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getattr(nav_state, 'nextManeuverValid', False) and \
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getattr(nav_state, 'nextManeuverType', custom.IQNavState.ManeuverType.none) == custom.IQNavState.ManeuverType.exit and \
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0.0 < float(getattr(nav_state, 'nextManeuverDistance', 0.0)) <= NAV_EXIT_COMMIT_DISTANCE:
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if getattr(nav_state, 'nextManeuverDirection', 0) == 1:
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nav_events.append(custom.IQOnroadEvent.EventName.navExitLeft)
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elif getattr(nav_state, 'nextManeuverDirection', 0) == 2:
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nav_events.append(custom.IQOnroadEvent.EventName.navExitRight)
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if getattr(nav_state, 'cameraValid', False):
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nav_events.append(custom.IQOnroadEvent.EventName.speedCameraAhead)
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self._cached_nav_event_names = tuple(nav_events)
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def update_events(self, CS):
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"""Compute onroadEvents from carState"""
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self.events.clear()
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self.events_iq.clear()
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if self.sm['controlsState'].lateralControlState.which() == 'debugState':
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self.events.add(EventName.joystickDebug)
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self.startup_event = None
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if self.sm['deviceState'].egpuDockPresent or self.params.get_bool("IQEgpuEnabled") or self.big_model_active:
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loading = self.params.get_bool("UsbGpuLoading")
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self.big_model_loading = loading
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if self.big_model_loading:
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self.events.add(EventName.bigModelLoading)
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big_active = self.params.get("UsbGpuActive")
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dock_present = self.sm['deviceState'].egpuDockPresent
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mac_active = self.params.get_bool("MacModelActive")
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model_unavailable = big_active is True and self.sm.seen['modelV2'] and not self.sm.alive['modelV2']
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# an explicit False before this session's first activation is just the selector arming
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# (it pre-clears the param on startup); alerting on it pops "big model failed" on every
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# return to the road until the latch warms up
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big_failed = ((self.big_model_active and big_active is False) or model_unavailable
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or (self.big_model_active and not dock_present)) and not mac_active
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if big_failed:
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self.events.add(EventName.bigModelFailed)
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self.big_model_failed = big_failed
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# soft disable if the big model fails
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if big_active:
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self.big_model_active = True
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if mac_active or (not self.enabled and not model_unavailable):
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self.big_model_active = False
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if self.sm.recv_frame['lateralManeuverPlan'] > 0:
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self.events.add(EventName.lateralManeuver)
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self.startup_event = None
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elif self.sm.recv_frame['alertDebug'] > 0:
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self.events.add(EventName.longitudinalManeuver)
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self.startup_event = None
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# Add startup event
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if self.startup_event is not None:
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self.events.add(self.startup_event)
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self.startup_event = None
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# Don't add any more events if not initialized
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if not self.initialized:
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self.events.add(EventName.selfdriveInitializing)
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return
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# Check for user bookmark press (bookmark button or end of LKAS button feedback)
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if self.sm.updated['userBookmark']:
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self.events.add(EventName.userBookmark)
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if self.sm.updated['audioFeedback']:
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self.events.add(EventName.audioFeedback)
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# Don't add any more events while in dashcam mode
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if self.CP.passive:
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return
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# Block resume if cruise never previously enabled
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resume_pressed = any(be.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for be in CS.buttonEvents)
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volkswagen_op_long = self.CP.brand == "volkswagen" and self.CP.openpilotLongitudinalControl
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if not self.CP.pcmCruise and CS.vCruise > 250 and resume_pressed and not volkswagen_op_long:
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self.events.add(EventName.resumeBlocked)
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if not self.CP.notCar:
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self._refresh_cached_dm_events()
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self._add_event_names(self._cached_dm_event_names)
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self._refresh_cached_plan_events()
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self._add_iq_event_names(self._cached_plan_event_names)
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# Add car events, ignore if CAN isn't valid
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if CS.canValid:
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car_events = self.car_events.update(CS, self.CS_prev, self.sm['carControl']).to_msg()
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self.events.add_from_msg(car_events)
|
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|
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car_events_iq = self.car_events_iq.update(CS, self.events)
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self._add_iq_event_names(car_events_iq.names)
|
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|
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if self.CP.notCar:
|
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# wait for everything to init first
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if self.sm.frame > int(5. / DT_CTRL) and self.initialized:
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# body always wants to enable
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self.events.add(EventName.pcmEnable)
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|
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# Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0
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if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \
|
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(CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \
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(CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)):
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self.events.add(EventName.pedalPressed)
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# Create events for temperature, disk space, and memory
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if self.sm['deviceState'].thermalStatus >= ThermalStatus.red:
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self.events.add(EventName.overheat)
|
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if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
|
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self.events.add(EventName.outOfSpace)
|
||||
if self.sm['deviceState'].memoryUsagePercent > 95 and not SIMULATION:
|
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self.events.add(EventName.lowMemory)
|
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|
||||
# Alert if fan isn't spinning for 5 seconds
|
||||
if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
|
||||
if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
|
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# allow enough time for the fan controller in the panda to recover from stalls
|
||||
if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
|
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self.events.add(EventName.fanMalfunction)
|
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else:
|
||||
self.last_functional_fan_frame = self.sm.frame
|
||||
|
||||
# Handle calibration status
|
||||
cal_status = self.sm['extrinsicsCalibration'].calStatus
|
||||
if cal_status != log.ExtrinsicsCalibration.Status.calibrated:
|
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if cal_status == log.ExtrinsicsCalibration.Status.uncalibrated:
|
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self.events.add(EventName.calibrationIncomplete)
|
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elif cal_status == log.ExtrinsicsCalibration.Status.recalibrating:
|
||||
if not self.recalibrating_seen:
|
||||
set_offroad_alert("Offroad_Recalibration", True)
|
||||
self.recalibrating_seen = True
|
||||
self.events.add(EventName.calibrationRecalibrating)
|
||||
else:
|
||||
self.events.add(EventName.calibrationInvalid)
|
||||
|
||||
# Lane departure warning
|
||||
if self.is_ldw_enabled and self.sm.valid['driverAssistance']:
|
||||
if self.sm['driverAssistance'].leftLaneDeparture or self.sm['driverAssistance'].rightLaneDeparture:
|
||||
self.events.add(EventName.ldw)
|
||||
|
||||
# ******************************************************************************************
|
||||
# NOTE: To fork maintainers.
|
||||
# Disabling or nerfing safety features will get you and your users banned from our servers.
|
||||
# We recommend that you do not change these numbers from the defaults.
|
||||
if self.sm.updated['extrinsicsCalibration']:
|
||||
self.pose_calibrator.feed_live_calib(self.sm['extrinsicsCalibration'])
|
||||
if self.sm.updated['deviceMotion']:
|
||||
device_pose = Pose.from_live_pose(self.sm['deviceMotion'])
|
||||
self.calibrated_pose = self.pose_calibrator.build_calibrated_pose(device_pose)
|
||||
|
||||
if self.calibrated_pose is not None:
|
||||
excessive_actuation = self.excessive_actuation_check.update(self.sm, CS, self.calibrated_pose)
|
||||
if not self.excessive_actuation and excessive_actuation is not None:
|
||||
set_offroad_alert("Offroad_ExcessiveActuation", True, extra_text=str(excessive_actuation))
|
||||
self.excessive_actuation = True
|
||||
|
||||
if self.excessive_actuation:
|
||||
self.events.add(EventName.excessiveActuation)
|
||||
# ******************************************************************************************
|
||||
|
||||
# Handle lane change
|
||||
if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
|
||||
direction = self.sm['modelV2'].meta.laneChangeDirection
|
||||
if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
|
||||
(CS.rightBlindspot and direction == LaneChangeDirection.right):
|
||||
self.events.add(EventName.laneChangeBlocked)
|
||||
else:
|
||||
if direction == LaneChangeDirection.left:
|
||||
self.events.add(EventName.preLaneChangeLeft)
|
||||
else:
|
||||
self.events.add(EventName.preLaneChangeRight)
|
||||
elif self.sm['modelV2'].meta.laneChangeState in (LaneChangeState.laneChangeStarting,
|
||||
LaneChangeState.laneChangeFinishing):
|
||||
self.events.add(EventName.laneChange)
|
||||
|
||||
# Handle lane turn
|
||||
self._refresh_cached_model_events()
|
||||
self._add_iq_event_names(self._cached_model_event_names)
|
||||
|
||||
self._refresh_cached_nav_events()
|
||||
self._add_iq_event_names(self._cached_nav_event_names)
|
||||
|
||||
for i, pandaState in enumerate(self.sm['pandaStates']):
|
||||
# All pandas must match the list of safetyConfigs, and if outside this list, must be silent or noOutput
|
||||
if i < len(self.CP.safetyConfigs):
|
||||
safety_mismatch = pandaState.safetyModel != self.CP.safetyConfigs[i].safetyModel or \
|
||||
pandaState.safetyParam != self.CP.safetyConfigs[i].safetyParam or \
|
||||
pandaState.alternativeExperience != self.CP.alternativeExperience
|
||||
else:
|
||||
safety_mismatch = pandaState.safetyModel not in IGNORED_SAFETY_MODES
|
||||
|
||||
# safety mismatch allows some time for pandad to set the safety mode and publish it back from panda
|
||||
if (safety_mismatch and self.sm.frame*DT_CTRL > 10.) or \
|
||||
pandaState.safetyRxChecksInvalid or \
|
||||
self.mismatch_counter >= 200:
|
||||
self.events.add(EventName.controlsMismatch)
|
||||
|
||||
if log.PandaState.FaultType.relayMalfunction in pandaState.faults:
|
||||
self.events.add(EventName.relayMalfunction)
|
||||
|
||||
# Handle HW and system malfunctions
|
||||
# Order is very intentional here. Be careful when modifying this.
|
||||
# All events here should at least have NO_ENTRY and SOFT_DISABLE.
|
||||
num_events = len(self.events)
|
||||
|
||||
not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
|
||||
if self.sm.recv_frame['managerState'] and len(not_running):
|
||||
if not_running != self.not_running_prev:
|
||||
cloudlog.event("process_not_running", not_running=not_running, error=True)
|
||||
self.not_running_prev = not_running
|
||||
if self.sm.recv_frame['managerState'] and (not_running - self.ignored_processes):
|
||||
self.events.add(EventName.processNotRunning)
|
||||
if 'iqmodeld' in not_running and self.model_download_pending:
|
||||
self.events_iq.add(custom.IQOnroadEvent.EventName.modelUpdating)
|
||||
else:
|
||||
if not SIMULATION and not self.rk.lagging:
|
||||
if not self.sm.all_alive(self.camera_packets):
|
||||
self.events.add(EventName.cameraMalfunction)
|
||||
elif not self.sm.all_freq_ok(self.camera_packets):
|
||||
self.events.add(EventName.cameraFrameRate)
|
||||
|
||||
if self.sm.frame < WIDE_CAM_FAULTY_ALERT_FRAMES:
|
||||
if self.sm.frame % int(1. / DT_CTRL) == 0:
|
||||
self.wide_cam_faulty = self.params.get_bool("WideCamFaulty")
|
||||
if self.wide_cam_faulty:
|
||||
self.events_iq.add(custom.IQOnroadEvent.EventName.wideCamFaulty)
|
||||
|
||||
if not REPLAY and self.rk.lagging:
|
||||
log_issue_limited(
|
||||
"selfdrived_lagging",
|
||||
"lag",
|
||||
f"selfdrived lagging avg_dt={self.rk.avg_dt.get_average() * 1000:.2f}ms frame={self.sm.frame}",
|
||||
interval_sec=1.0,
|
||||
)
|
||||
self.events.add(EventName.selfdrivedLagging)
|
||||
if self.sm['radarState'].radarErrors.canError:
|
||||
self.events.add(EventName.canError)
|
||||
elif self.sm['radarState'].radarErrors.radarUnavailableTemporary:
|
||||
self.events.add(EventName.radarTempUnavailable)
|
||||
elif any(self.sm['radarState'].radarErrors.to_dict().values()):
|
||||
self.events.add(EventName.radarFault)
|
||||
if not self.sm.valid['pandaStates']:
|
||||
self.events.add(EventName.usbError)
|
||||
if CS.canTimeout:
|
||||
self.events.add(EventName.canBusMissing)
|
||||
elif not CS.canValid:
|
||||
self.events.add(EventName.canError)
|
||||
|
||||
# generic catch-all. ideally, a more specific event should be added above instead
|
||||
has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
|
||||
no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
|
||||
logs = self._comm_issue_logs()
|
||||
has_not_alive = len(logs['not_alive']) > 0
|
||||
has_not_freq = len(logs['not_freq_ok']) > 0
|
||||
comm_issue_state = (tuple(logs['not_alive']), tuple(logs['not_freq_ok']))
|
||||
if (has_not_alive or has_not_freq) and no_system_errors:
|
||||
if has_not_alive:
|
||||
self.events.add(EventName.commIssue)
|
||||
else:
|
||||
self.events.add(EventName.commIssueAvgFreq)
|
||||
|
||||
if comm_issue_state != self.logged_comm_issue:
|
||||
cloudlog.event("commIssue", error=True, **logs)
|
||||
self.logged_comm_issue = comm_issue_state
|
||||
else:
|
||||
self.logged_comm_issue = None
|
||||
|
||||
if not self.CP.notCar:
|
||||
if not self.sm['deviceMotion'].posenetOK:
|
||||
self.events.add(EventName.posenetInvalid)
|
||||
if not self.sm['vehicleParameters'].valid and cal_status == log.ExtrinsicsCalibration.Status.calibrated and not TESTING_CLOSET and (not SIMULATION or REPLAY):
|
||||
self.events.add(EventName.paramsdTemporaryError)
|
||||
|
||||
# conservative HW alert. if the data or frequency are off, locationd will throw an error
|
||||
if any((self.sm.frame - self.sm.recv_frame[s])*DT_CTRL > 10. for s in self.sensor_packets):
|
||||
self.events.add(EventName.sensorDataInvalid)
|
||||
|
||||
if not REPLAY:
|
||||
# Check for mismatch between openpilot and car's PCM
|
||||
cruise_mismatch = CS.cruiseState.enabled and (not self.enabled or not self.CP.pcmCruise)
|
||||
self.cruise_mismatch_counter = self.cruise_mismatch_counter + 1 if cruise_mismatch else 0
|
||||
if self.cruise_mismatch_counter > int(6. / DT_CTRL):
|
||||
self.events.add(EventName.cruiseMismatch)
|
||||
|
||||
# Send a "steering required alert" if saturation count has reached the limit
|
||||
if CS.steeringPressed:
|
||||
self.last_steering_pressed_frame = self.sm.frame
|
||||
recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
|
||||
controlstate = self.sm['controlsState']
|
||||
lac = getattr(controlstate.lateralControlState, controlstate.lateralControlState.which())
|
||||
if lac.active and not recent_steer_pressed and not self.CP.notCar:
|
||||
clipped_speed = max(CS.vEgo, 0.3)
|
||||
actual_lateral_accel = controlstate.curvature * (clipped_speed**2)
|
||||
desired_lateral_accel = self.sm['modelV2'].action.desiredCurvature * (clipped_speed**2)
|
||||
undershooting = abs(desired_lateral_accel) / abs(1e-3 + actual_lateral_accel) > 1.2
|
||||
turning = abs(desired_lateral_accel) > 1.0
|
||||
# TODO: lac.saturated includes speed and other checks, should be pulled out
|
||||
if undershooting and turning and lac.saturated:
|
||||
self.events.add(EventName.steerSaturated)
|
||||
|
||||
# Check for FCW
|
||||
stock_long_is_braking = self.enabled and not self.CP.openpilotLongitudinalControl and CS.aEgo < -1.25
|
||||
model_fcw = self.sm['modelV2'].meta.hardBrakePredicted and not CS.brakePressed and not stock_long_is_braking
|
||||
planner_fcw = self.sm['longitudinalPlan'].fcw and self.enabled
|
||||
if (planner_fcw or model_fcw) and not self.CP.notCar:
|
||||
self.events.add(EventName.fcw)
|
||||
|
||||
# GPS checks
|
||||
gps_ok = self.sm.recv_frame[self.gps_location_service] > 0 and (self.sm.frame - self.sm.recv_frame[self.gps_location_service]) * DT_CTRL < 2.0
|
||||
if not gps_ok and self.sm['deviceMotion'].inputsOK and (self.distance_traveled > 1500):
|
||||
self.events.add(EventName.noGps)
|
||||
if gps_ok:
|
||||
self.distance_traveled = 0
|
||||
self.distance_traveled += abs(CS.vEgo) * DT_CTRL
|
||||
|
||||
# TODO: fix simulator
|
||||
if not SIMULATION or REPLAY:
|
||||
if self.sm['modelV2'].frameDropPerc > 20:
|
||||
log_issue_limited(
|
||||
"modeld_frame_drop",
|
||||
"lag",
|
||||
f"modeld frame drops={self.sm['modelV2'].frameDropPerc:.1f}% frame={self.sm.frame}",
|
||||
interval_sec=1.0,
|
||||
)
|
||||
self.events.add(EventName.modeldLagging)
|
||||
|
||||
# Mute canBusMissing in Park so standby guidance suppression does not create a false alarm.
|
||||
if CS.gearShifter == car.CarState.GearShifter.park and self.aol.enabled:
|
||||
self.events.remove(EventName.canBusMissing)
|
||||
|
||||
GapButtonActions.update(self, CS, self.events_iq, self.experimental_mode)
|
||||
|
||||
# decrement personality on distance button press
|
||||
if self.CP.openpilotLongitudinalControl:
|
||||
if any(not be.pressed and be.type == ButtonType.gapAdjustCruise for be in CS.buttonEvents):
|
||||
if not self.experimental_mode_switched:
|
||||
self.personality = (self.personality - 1) % 3
|
||||
self.params.put_nonblocking('LongitudinalPersonality', self.personality)
|
||||
self.events.add(EventName.personalityChanged)
|
||||
self.experimental_mode_switched = False
|
||||
|
||||
def _get_model_data_ext(self):
|
||||
return self.sm['iqDriveModelData']
|
||||
|
||||
def _get_longitudinal_plan_ext(self):
|
||||
return self.sm['iqPlan']
|
||||
|
||||
def _comm_issue_logs(self):
|
||||
ignore_freq = getattr(self.sm, "ignore_average_freq", [])
|
||||
return {
|
||||
'invalid': [s for s, valid in self.sm.valid.items() if not valid and s not in self.sm.ignore_valid],
|
||||
'not_alive': [s for s, alive in self.sm.alive.items() if not alive and s not in self.sm.ignore_alive],
|
||||
'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok and s not in ignore_freq],
|
||||
}
|
||||
|
||||
def data_sample(self):
|
||||
started = time.monotonic()
|
||||
_car_state = messaging.recv_one(self.car_state_sock)
|
||||
car_state_wait_ms = (time.monotonic() - started) * 1000
|
||||
|
||||
started = time.monotonic()
|
||||
CS = _car_state.carState if _car_state else self.CS_prev
|
||||
|
||||
self.sm.update(0)
|
||||
sm_update_ms = (time.monotonic() - started) * 1000
|
||||
|
||||
if not self.initialized:
|
||||
all_valid = CS.canValid and self.sm.all_checks()
|
||||
timed_out = self.sm.frame * DT_CTRL > 6.
|
||||
if all_valid or timed_out or (SIMULATION and not REPLAY):
|
||||
available_streams = VisionIpcClient.available_streams("camerad", block=False)
|
||||
if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
|
||||
self.sm.ignore_alive.append('roadCameraState')
|
||||
self.sm.ignore_valid.append('roadCameraState')
|
||||
if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
|
||||
self.sm.ignore_alive.append('wideRoadCameraState')
|
||||
self.sm.ignore_valid.append('wideRoadCameraState')
|
||||
|
||||
if REPLAY and any(ps.controlsAllowed for ps in self.sm['pandaStates']):
|
||||
self.state_machine.state = State.enabled
|
||||
|
||||
self.initialized = True
|
||||
comm_issue_logs = self._comm_issue_logs()
|
||||
cloudlog.event(
|
||||
"selfdrived.initialized",
|
||||
dt=self.sm.frame*DT_CTRL,
|
||||
timeout=timed_out,
|
||||
canValid=CS.canValid,
|
||||
invalid=comm_issue_logs['invalid'],
|
||||
not_alive=comm_issue_logs['not_alive'],
|
||||
not_freq_ok=comm_issue_logs['not_freq_ok'],
|
||||
error=True,
|
||||
)
|
||||
|
||||
# When the panda and selfdrived do not agree on controls_allowed
|
||||
# we want to disengage openpilot. However the status from the panda goes through
|
||||
# another socket other than the CAN messages and one can arrive earlier than the other.
|
||||
# Therefore we allow a mismatch for two samples, then we trigger the disengagement.
|
||||
if not self.enabled:
|
||||
self.mismatch_counter = 0
|
||||
|
||||
# All pandas not in silent mode must have controlsAllowed when openpilot is enabled.
|
||||
if self.enabled and any(not ps.controlsAllowed for ps in self.sm['pandaStates']
|
||||
if ps.safetyModel not in IGNORED_SAFETY_MODES):
|
||||
self.mismatch_counter += 1
|
||||
|
||||
sample_total_ms = car_state_wait_ms + sm_update_ms
|
||||
if sample_total_ms > 7.0 or car_state_wait_ms > 5.0 or sm_update_ms > 2.0:
|
||||
log_issue_limited(
|
||||
"selfdrived_sample_breakdown",
|
||||
"lag",
|
||||
f"selfdrived sample slow total_ms={sample_total_ms:.2f} car_state_wait_ms={car_state_wait_ms:.2f} "
|
||||
f"sm_update_ms={sm_update_ms:.2f}",
|
||||
interval_sec=1.0,
|
||||
)
|
||||
|
||||
return CS
|
||||
|
||||
def update_alerts(self, CS):
|
||||
clear_event_types = set()
|
||||
if ET.WARNING not in self.state_machine.current_alert_types:
|
||||
clear_event_types.add(ET.WARNING)
|
||||
if self.enabled:
|
||||
clear_event_types.add(ET.NO_ENTRY)
|
||||
|
||||
pers = LONGITUDINAL_PERSONALITY_MAP[self.personality]
|
||||
callback_args = [self.CP, CS, self.sm, self.is_metric,
|
||||
self.state_machine.soft_disable_timer, pers]
|
||||
|
||||
alerts = self.events.create_alerts(self.state_machine.current_alert_types, callback_args)
|
||||
alerts_iq = self.events_iq.create_alerts(self.state_machine.current_alert_types, callback_args)
|
||||
|
||||
self.AM.add_many(self.sm.frame, alerts + alerts_iq)
|
||||
self.AM.process_alerts(self.sm.frame, clear_event_types)
|
||||
|
||||
def publish_selfdriveState(self, CS):
|
||||
# selfdriveState
|
||||
ss_msg = messaging.new_message('selfdriveState')
|
||||
ss_msg.valid = True
|
||||
ss = ss_msg.selfdriveState
|
||||
ss.enabled = self.enabled
|
||||
ss.active = self.active
|
||||
ss.state = self.state_machine.state
|
||||
ss.engageable = not self.events.contains(ET.NO_ENTRY)
|
||||
ss.experimentalMode = self.experimental_mode
|
||||
ss.personality = self.personality
|
||||
|
||||
ss.alertText1 = self.AM.current_alert.alert_text_1
|
||||
ss.alertText2 = self.AM.current_alert.alert_text_2
|
||||
ss.alertSize = self.AM.current_alert.alert_size
|
||||
ss.alertStatus = self.AM.current_alert.alert_status
|
||||
ss.alertType = self.AM.current_alert.alert_type
|
||||
ss.alertSound = self.AM.current_alert.audible_alert
|
||||
ss.alertHudVisual = self.AM.current_alert.visual_alert
|
||||
|
||||
self.pm.send('selfdriveState', ss_msg)
|
||||
|
||||
# onroadEvents - logged every second or on change
|
||||
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev):
|
||||
ce_send = messaging.new_message('onroadEvents', len(self.events))
|
||||
ce_send.valid = True
|
||||
ce_send.onroadEvents = self.events.to_msg()
|
||||
self.pm.send('onroadEvents', ce_send)
|
||||
self.events_prev = self.events.names.copy()
|
||||
|
||||
# iqState
|
||||
iq_state_msg = messaging.new_message('iqState')
|
||||
iq_state_msg.valid = True
|
||||
iq_state = iq_state_msg.iqState
|
||||
aol = iq_state.aol
|
||||
aol.state = self.aol.state_machine.state
|
||||
aol.enabled = self.aol.enabled
|
||||
aol.active = self.aol.active
|
||||
aol.available = self.aol.enabled_toggle
|
||||
self.pm.send('iqState', iq_state_msg)
|
||||
|
||||
# iqOnroadEvents - logged every second or on change
|
||||
if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events_iq.names != self.events_iq_prev):
|
||||
iq_events_msg = messaging.new_message('iqOnroadEvents')
|
||||
iq_events_msg.valid = True
|
||||
iq_events_msg.iqOnroadEvents.events = self.events_iq.to_msg()
|
||||
self.pm.send('iqOnroadEvents', iq_events_msg)
|
||||
self.events_iq_prev = self.events_iq.names.copy()
|
||||
|
||||
def step(self):
|
||||
started = time.monotonic()
|
||||
checkpoint = started
|
||||
|
||||
CS = self.data_sample()
|
||||
sample_ms = (time.monotonic() - checkpoint) * 1000
|
||||
checkpoint = time.monotonic()
|
||||
|
||||
self.update_events(CS)
|
||||
events_ms = (time.monotonic() - checkpoint) * 1000
|
||||
checkpoint = time.monotonic()
|
||||
|
||||
if not self.CP.passive and self.initialized:
|
||||
self.enabled, self.active = self.state_machine.update(self.events)
|
||||
state_ms = (time.monotonic() - checkpoint) * 1000
|
||||
checkpoint = time.monotonic()
|
||||
|
||||
if not self.CP.notCar:
|
||||
self.aol.update(CS)
|
||||
aol_ms = (time.monotonic() - checkpoint) * 1000
|
||||
checkpoint = time.monotonic()
|
||||
|
||||
self.update_alerts(CS)
|
||||
alerts_ms = (time.monotonic() - checkpoint) * 1000
|
||||
checkpoint = time.monotonic()
|
||||
|
||||
self.publish_selfdriveState(CS)
|
||||
publish_ms = (time.monotonic() - checkpoint) * 1000
|
||||
|
||||
self.CS_prev = CS
|
||||
|
||||
total_ms = (time.monotonic() - started) * 1000
|
||||
if total_ms > 8.0 or events_ms > 4.0 or publish_ms > 3.0:
|
||||
log_issue_limited(
|
||||
"selfdrived_step_slow",
|
||||
"lag",
|
||||
f"selfdrived step slow total_ms={total_ms:.2f} sample_ms={sample_ms:.2f} events_ms={events_ms:.2f} "
|
||||
f"state_ms={state_ms:.2f} aol_ms={aol_ms:.2f} alerts_ms={alerts_ms:.2f} publish_ms={publish_ms:.2f} "
|
||||
f"nav_active={getattr(self.sm['iqNavState'], 'active', False)}",
|
||||
interval_sec=1.0,
|
||||
)
|
||||
|
||||
def params_thread(self, evt):
|
||||
config_background_thread()
|
||||
while not evt.is_set():
|
||||
self.is_metric = self.params.get_bool("IsMetric")
|
||||
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
|
||||
self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
|
||||
self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
|
||||
self.personality = get_runtime_personality(self.params)
|
||||
self.nav_exit_lane_change = self._read_nav_exit_lane_change()
|
||||
self.model_download_pending = self.params.get("ModelManager_DownloadIndex") is not None
|
||||
|
||||
self.aol.read_params()
|
||||
time.sleep(0.1)
|
||||
|
||||
def run(self):
|
||||
e = threading.Event()
|
||||
t = threading.Thread(target=self.params_thread, args=(e, ))
|
||||
try:
|
||||
t.start()
|
||||
while True:
|
||||
self.step()
|
||||
self.rk.monitor_time()
|
||||
finally:
|
||||
e.set()
|
||||
t.join()
|
||||
|
||||
|
||||
def main():
|
||||
config_realtime_process(4, Priority.CTRL_HIGH)
|
||||
lock_memory()
|
||||
s = SelfdriveD()
|
||||
s.run()
|
||||
|
||||
if __name__ == "__main__":
|
||||
main()
|
||||
Reference in New Issue
Block a user