selfdrive.controls package

Subpackages

Submodules

selfdrive.controls.controlsd module

class selfdrive.controls.controlsd.Controls(sm=None, pm=None, can_sock=None, CI=None)[source]

Bases: object

controlsd_thread()[source]
data_sample()[source]

Receive data from sockets and update carState

publish_logs(CS, start_time, CC, lac_log)[source]

Send actuators and hud commands to the car, send controlsstate and MPC logging

set_initial_state()[source]
state_control(CS)[source]

Given the state, this function returns a CarControl packet

state_transition(CS)[source]

Compute conditional state transitions and execute actions on state transitions

step()[source]
update_button_timers(buttonEvents)[source]
update_events(CS)[source]

Compute carEvents from carState

selfdrive.controls.controlsd.main(sm=None, pm=None, logcan=None)[source]

selfdrive.controls.plannerd module

selfdrive.controls.plannerd.main(sm=None, pm=None)[source]
selfdrive.controls.plannerd.plannerd_thread(sm=None, pm=None)[source]

selfdrive.controls.radard module

class selfdrive.controls.radard.KalmanParams(dt)[source]

Bases: object

class selfdrive.controls.radard.RadarD(radar_ts, delay=0)[source]

Bases: object

update(sm, rr)[source]
selfdrive.controls.radard.get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True)[source]
selfdrive.controls.radard.laplacian_cdf(x, mu, b)[source]
selfdrive.controls.radard.main(sm=None, pm=None, can_sock=None)[source]
selfdrive.controls.radard.match_vision_to_cluster(v_ego, lead, clusters)[source]
selfdrive.controls.radard.radard_thread(sm=None, pm=None, can_sock=None)[source]

Module contents