commaai代码！
1.Directory structure
- cereal – The messaging spec used for all logs on the phone
- common – Library like functionality we’ve developed here
- opendbc – Files showing how to interpret data from cars
- panda – Code used to communicate on CAN and LIN
- phonelibs – Libraries used on the phone
- selfdrive – Code needed to drive the car
- assets – Fonts for ui
- boardd – Daemon to talk to the board
- car – Code that talks to the car and implements CarInterface
- common – Shared C/C++ code for the daemons
- controls – Python controls (PID loops etc) for the car
- debug – Tools to help you debug and do car ports
- logcatd – Android logcat as a service
- loggerd – Logger and uploader of car data
- proclogd – Logs information from proc
- radar – Code that talks to the radar and implements RadarInterface
- sensord – IMU / GPS interface code
- test/plant – Car simulator running code through virtual maneuvers
- ui – The UI
- visiond – embedded vision pipeline
2.start entry
#selfdrive/manager.py
managed_processes = {
"uploader": "selfdrive.loggerd.uploader",
"controlsd": "selfdrive.controls.controlsd",
"plannerd": "selfdrive.controls.plannerd",
"radard": "selfdrive.controls.radard",
"loggerd": ("loggerd", ["./loggerd"]),
"logmessaged": "selfdrive.logmessaged",
"tombstoned": "selfdrive.tombstoned",
"logcatd": ("logcatd", ["./logcatd"]),
"proclogd": ("proclogd", ["./proclogd"]),
"boardd": ("boardd", ["./boardd"]), # switch to c++ boardd
"ui": ("ui", ["./ui"]),
"visiond": ("visiond", ["./visiond"]),
"sensord": ("sensord", ["./sensord"]), }
car_started_processes = [
'controlsd',
'plannerd',
'loggerd',
'sensord',
'radard',
'visiond',
'proclogd',
]3.service_list.yaml
# service_name:[port,shuld_log]
# frame syncing packet
frame: [8002, true]
# accel, gyro, and compass
sensorEvents: [8003, true]
# GPS data, also global timestamp
gpsNMEA: [8004, true]
# CPU+MEM+GPU+BAT temps
thermal: [8005, true]
# List(CanData), list of can messages
can: [8006, true]
live100: [8007, true]
# random events we want to log
#liveEvent: [8008, true]
model: [8009, true]
features: [8010, true]
health: [8011, true]
live20: [8012, true]
#liveUI: [8014, true]
encodeIdx: [8015, true]
liveTracks: [8016, true]
sendcan: [8017, true]
logMessage: [8018, true]
liveCalibration: [8019, true]
androidLog: [8020, true]
carState: [8021, true]
# 8022 is reserved for sshd
carControl: [8023, true]
plan: [8024, true]
liveLocation: [8025, true]
gpsLocation: [8026, true]
ethernetData: [8027, true]
navUpdate: [8028, true]
qcomGnss: [8029, true]
lidarPts: [8030, true]
procLog: [8031, true]
testModel: [8040, false]4.plan
lateral plan : selfdrive.controls.lib.pathplanner longitudal plan: selfdrive.controls.lib.adaptivecruise
sub_sock:car_state,model,live20 pub_sock:plan
5.control
LongControl : selfdrive.controls.lib.longcontrol LatControl : selfdrive.controls.lib.latcontrol
sub_sock:can,plan,thermal,health pub_sock:car_state,live100:carcontrol
# *** gas/brake PID loop ***
final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph,
plan.vTarget,
[plan.aTargetMin, plan.aTargetMax],
plan.jerkFactor, CP)
# *** steering PID loop ***
final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, plan.dPoly, angle_offset, CP)
# ***** control the car *****
CC = car.CarControl.new_message()
CC.enabled = enabled
CC.gas = float(final_gas)
CC.brake = float(final_brake)
CC.steeringTorque = float(final_steer)
CC.cruiseControl.override = True
CC.cruiseControl.cancel = bool((not CP.enableCruise) or (not enabled and CS.cruiseState.enabled)) # always cancel if we have an interceptor
# brake discount removes a sharp nonlinearity
brake_discount = (1.0 - clip(final_brake*3., 0.0, 1.0))
CC.cruiseControl.speedOverride = float(max(0.0, ((LoC.v_pid - .5) * brake_discount)) if CP.enableCruise else 0.0)
#CC.cruiseControl.accelOverride = float(AC.a_pcm)
# TODO: fix this
CC.cruiseControl.accelOverride = float(1.0)
CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
CC.hudControl.speedVisible = enabled
CC.hudControl.lanesVisible = enabled
CC.hudControl.leadVisible = plan.hasLead
CC.hudControl.visualAlert = visual_alert
CC.hudControl.audibleAlert = audible_alert6 minutes self_driving
if enabled:
# gives the user 6 minutes
awareness_status -= 1.0/(100*60*6)
if awareness_status <= 0.:
AM.add("driverDistracted", enabled)
# reset awareness status on steering
if CS.steeringPressed:
awareness_status = 1.06.visiond
computer vision and machine learning embeded in visiond.
visiond uses an internal framework to run the neural net. Tensorflow is way too slow on phones.
Currently comma.ai have no plans to open source visiond.
7.radard
# *** subscribe to features and model from visiond
model = messaging.sub_sock(context, service_list['model'].port)
PP = PathPlanner(model)
# *** get path prediction from the model ***
PP.update(sec_since_boot(), v_ego)
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原始发表：2017-07-09，如有侵权请联系 cloudcommunity@tencent.com 删除
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