Sensor Error Check 에 LKAS checking solution 추가 about aeye HOT 4 CLOSED

kka-na commented on June 14, 2024

Sensor Error Check 에 LKAS checking solution 추가

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Comments (4)

kka-na commented on June 14, 2024 1

Addition of OP Null Checking Solution

aeye/error/error_check.py

Line 35 in 0b1edb3

rospy.Subscriber('/op_null', Bool, self.op_null_callback)

aeye/error/error_check.py

Lines 93 to 94 in 0b1edb3

 def op_null_callback(self, msg): 

 self.op_null = int(msg.data)

aeye/error/error_check.py

Lines 122 to 127 in 0b1edb3

 if self.op_null == 1: # op_null true 

 sensor_state.data.extend([False]) 

 elif self.op_null == 0: # op_null false 

 sensor_state.data.extend([True]) 

 print("LKAS" : {}".format(self.op_null))

aeye/error/error_check.py

Lines 207 to 211 in 0b1edb3

 # --- 

 # This is for Test ( Have to Remove !!!!!! ) 

 sensorstate.data = [0,not self.op_null,0,0,0,not self.radar] 

 systemstate.data = [0,0,self.test_lane] 

 # ----

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kka-na commented on June 14, 2024

Addition of op_null Topic

aeye/control/openpilot/lane_check.py

Lines 29 to 32 in 0b1edb3

 #for Openpilot Error Checking 

 op_null_pub = rospy.Publisher('/op_null', Bool, queue_size=1) 

 op_null=Bool() 

 op_null.data = False

aeye/control/openpilot/lane_check.py

Lines 112 to 116 in 0b1edb3

 #If Lanelines doesn't work,  

 else: 

 # There is some Error 

 op_null.data = True 

 op_null_pub.publish(op_null)

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kka-na commented on June 14, 2024

Need to Modify the LKAS Error Check Process

in lane_check.py

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maru-jang commented on June 14, 2024

aeye/control/can_bridge.py

Lines 214 to 219 in 37ed0d5

 else: 

 if time.time() - lkas_time > 0.2: 

 self.lkas = False 

 self.lkas_state.publish(self.lkas) 

 time.sleep(0.1) 

 # print("LKAS FAULT")

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	def op_null_callback(self, msg):
	self.op_null = int(msg.data)

	if self.op_null == 1: # op_null true
	sensor_state.data.extend([False])
	elif self.op_null == 0: # op_null false
	sensor_state.data.extend([True])

	print("LKAS" : {}".format(self.op_null))

	# ---
	# This is for Test ( Have to Remove !!!!!! )
	sensorstate.data = [0,not self.op_null,0,0,0,not self.radar]
	systemstate.data = [0,0,self.test_lane]
	# ----

	#for Openpilot Error Checking
	op_null_pub = rospy.Publisher('/op_null', Bool, queue_size=1)
	op_null=Bool()
	op_null.data = False

	#If Lanelines doesn't work,
	else:
	# There is some Error
	op_null.data = True
	op_null_pub.publish(op_null)

	else:
	if time.time() - lkas_time > 0.2:
	self.lkas = False
	self.lkas_state.publish(self.lkas)
	time.sleep(0.1)
	# print("LKAS FAULT")

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