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Car cleanup (#1924)

Browse Source 
* cleanup car code

* more pruning

* little more

* less pylint disables

* radar stuff

* fix

* udpate refs

* fix honda bosch

* fix test
pull/49/head
Adeeb Shihadeh 5 years ago committed by GitHub
parent 99106fd9c4
commit 892e1162c0
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GPG Key ID: 4AEE18F83AFDEB23
31 changed files with 77 additions and 165 deletions
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  1. 1
      selfdrive/car/chrysler/carcontroller.py
  2. 2
      selfdrive/car/chrysler/interface.py
  3. 9
      selfdrive/car/chrysler/radar_interface.py
  4. 56
      selfdrive/car/chrysler/test_chryslercan.py
  5. 31
      selfdrive/car/chrysler/values.py
  6. 2
      selfdrive/car/ford/interface.py
  7. 3
      selfdrive/car/ford/radar_interface.py
  8. 6
      selfdrive/car/gm/interface.py
  9. 42
      selfdrive/car/gm/radar_interface.py
  10. 13
      selfdrive/car/honda/radar_interface.py
  11. 2
      selfdrive/car/honda/values.py
  12. 3
      selfdrive/car/hyundai/carstate.py
  13. 3
      selfdrive/car/hyundai/interface.py
  14. 12
      selfdrive/car/hyundai/values.py
  15. 2
      selfdrive/car/interfaces.py
  16. 4
      selfdrive/car/mazda/carstate.py
  17. 5
      selfdrive/car/mazda/interface.py
  18. 2
      selfdrive/car/mock/interface.py
  19. 2
      selfdrive/car/nissan/interface.py
  20. 2
      selfdrive/car/subaru/interface.py
  21. 2
      selfdrive/car/tests/test_car_interfaces.py
  22. 9
      selfdrive/car/toyota/carstate.py
  23. 1
      selfdrive/car/toyota/interface.py
  24. 5
      selfdrive/car/toyota/radar_interface.py
  25. 6
      selfdrive/car/toyota/values.py
  26. 4
      selfdrive/car/volkswagen/carcontroller.py
  27. 2
      selfdrive/car/volkswagen/carstate.py
  28. 6
      selfdrive/car/volkswagen/interface.py
  29. 2
      selfdrive/car/volkswagen/values.py
  30. 1
      selfdrive/car/volkswagen/volkswagencan.py
  31. 2
      selfdrive/test/process_replay/ref_commit

1
selfdrive/car/chrysler/carcontroller.py
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@ -11,7 +11,6 @@ class CarController():
self.prev_frame = -1
self.hud_count = 0
self.car_fingerprint = CP.carFingerprint
self.alert_active = False
self.gone_fast_yet = False
self.steer_rate_limited = False

2
selfdrive/car/chrysler/interface.py
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@ -70,8 +70,6 @@ class CarInterface(CarInterfaceBase):
# speeds
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low],
gas_resume_speed=2.)

9
selfdrive/car/chrysler/radar_interface.py
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@ -1,16 +1,15 @@
#!/usr/bin/env python3
import os
from opendbc.can.parser import CANParser
from cereal import car
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.chrysler.values import DBC
RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2)) # c_ messages 706,...,724
RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2)) # d_ messages
LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
def _create_radar_can_parser():
dbc_f = 'chrysler_pacifica_2017_hybrid_private_fusion.dbc'
def _create_radar_can_parser(car_fingerprint):
msg_n = len(RADAR_MSGS_C)
# list of [(signal name, message name or number, initial values), (...)]
# [('RADAR_STATE', 1024, 0),
@ -37,7 +36,7 @@ def _create_radar_can_parser():
[20]*msg_n + # 20Hz (0.05s)
[20]*msg_n)) # 20Hz (0.05s)
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
def _address_to_track(address):
if address in RADAR_MSGS_C:
@ -49,7 +48,7 @@ def _address_to_track(address):
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)
self.rcp = _create_radar_can_parser()
self.rcp = _create_radar_can_parser(CP.carFingerprint)
self.updated_messages = set()
self.trigger_msg = LAST_MSG

56
selfdrive/car/chrysler/test_chryslercan.py
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@ -1,56 +0,0 @@
import unittest
from cereal import car
from opendbc.can.packer import CANPacker
from selfdrive.car.chrysler import chryslercan
VisualAlert = car.CarControl.HUDControl.VisualAlert
GearShifter = car.CarState.GearShifter
class TestChryslerCan(unittest.TestCase):
def test_hud(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x2a6, 0, b'\x01\x00\x01\x01\x00\x00\x00\x00', 0],
chryslercan.create_lkas_hud(
packer,
GearShifter.park, False, False, 1, 0))
self.assertEqual(
[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
chryslercan.create_lkas_hud(
packer,
GearShifter.park, False, False, 5*4, 0))
self.assertEqual(
[0x2a6, 0, b'\x01\x00\x01\x00\x00\x00\x00\x00', 0],
chryslercan.create_lkas_hud(
packer,
GearShifter.park, False, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, b'\x02\x00\x06\x00\x00\x00\x00\x00', 0],
chryslercan.create_lkas_hud(
packer,
GearShifter.drive, True, False, 99999, 0))
self.assertEqual(
[0x2a6, 0, b'\x02\x64\x06\x00\x00\x00\x00\x00', 0],
chryslercan.create_lkas_hud(
packer,
GearShifter.drive, True, False, 99999, 0x64))
def test_command(self):
packer = CANPacker('chrysler_pacifica_2017_hybrid')
self.assertEqual(
[0x292, 0, b'\x14\x00\x00\x00\x10\x86', 0],
chryslercan.create_lkas_command(
packer,
0, True, 1))
self.assertEqual(
[0x292, 0, b'\x04\x00\x00\x00\x80\x83', 0],
chryslercan.create_lkas_command(
packer,
0, False, 8))
if __name__ == '__main__':
unittest.main()

31
selfdrive/car/chrysler/values.py
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@ -4,7 +4,6 @@ from selfdrive.car import dbc_dict
from cereal import car
Ecu = car.CarParams.Ecu
class SteerLimitParams:
STEER_MAX = 261 # 262 faults
STEER_DELTA_UP = 3 # 3 is stock. 100 is fine. 200 is too much it seems
@ -82,32 +81,18 @@ FINGERPRINTS = {
DBC = {
CAR.PACIFICA_2017_HYBRID: dbc_dict(
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2020: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2018_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2019_HYBRID: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.JEEP_CHEROKEE_2019: dbc_dict( # Same DBC file works.
'chrysler_pacifica_2017_hybrid', # 'pt'
'chrysler_pacifica_2017_hybrid_private_fusion'), # 'radar'
CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
}
STEER_THRESHOLD = 120
ECU_FINGERPRINT = {
Ecu.fwdCamera: [0x292], # lkas cmd
Ecu.fwdCamera: [0x292], # lkas cmd
}

2
selfdrive/car/ford/interface.py
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@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 3.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "ford"
ret.safetyModel = car.CarParams.SafetyModel.ford

3
selfdrive/car/ford/radar_interface.py
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@ -8,14 +8,13 @@ from selfdrive.car.interfaces import RadarInterfaceBase
RADAR_MSGS = list(range(0x500, 0x540))
def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
msg_n = len(RADAR_MSGS)
signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
RADAR_MSGS * 3,
[0] * msg_n + [0] * msg_n + [0] * msg_n))
checks = list(zip(RADAR_MSGS, [20]*msg_n))
return CANParser(dbc_f, signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):

6
selfdrive/car/gm/interface.py
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@ -16,13 +16,13 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "gm"
ret.safetyModel = car.CarParams.SafetyModel.gm # default to gm
ret.safetyModel = car.CarParams.SafetyModel.gm
ret.enableCruise = False # stock cruise control is kept off
# GM port is considered a community feature, since it disables AEB;
# GM port is a community feature
# TODO: make a port that uses a car harness and it only intercepts the camera
ret.communityFeature = True

42
selfdrive/car/gm/radar_interface.py
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@ -16,30 +16,28 @@ NUM_SLOTS = 20
LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
def create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []
return CANParser(dbc_f, signals, checks, CanBus.OBSTACLE)
else:
if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS):
return None
# C1A-ARS3-A by Continental
radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
signals = list(zip(['FLRRNumValidTargets',
'FLRRSnsrBlckd', 'FLRRYawRtPlsblityFlt',
'FLRRHWFltPrsntInt', 'FLRRAntTngFltPrsnt',
'FLRRAlgnFltPrsnt', 'FLRRSnstvFltPrsntInt'] +
['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
[RADAR_HEADER_MSG] * 7 + radar_targets * 6,
[0] * 7 +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0.0] * NUM_SLOTS +
[0.0] * NUM_SLOTS + [0] * NUM_SLOTS))
checks = []
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):
super().__init__(CP)

13
selfdrive/car/honda/radar_interface.py
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@ -1,11 +1,10 @@
#!/usr/bin/env python3
import os
from cereal import car
from opendbc.can.parser import CANParser
from selfdrive.car.interfaces import RadarInterfaceBase
from selfdrive.car.honda.values import DBC
def _create_nidec_can_parser():
dbc_f = 'acura_ilx_2016_nidec.dbc'
def _create_nidec_can_parser(car_fingerprint):
radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
signals = list(zip(['RADAR_STATE'] +
['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
@ -13,8 +12,7 @@ def _create_nidec_can_parser():
[0x400] + radar_messages[1:] * 4,
[0] + [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16))
checks = list(zip([0x445], [20]))
fn = os.path.splitext(dbc_f)[0].encode('utf8')
return CANParser(fn, signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
@ -29,7 +27,10 @@ class RadarInterface(RadarInterfaceBase):
self.delay = int(round(0.1 / CP.radarTimeStep)) # 0.1s delay of radar
# Nidec
self.rcp = _create_nidec_can_parser()
if self.radar_off_can:
self.rcp = None
else:
self.rcp = _create_nidec_can_parser(CP.carFingerprint)
self.trigger_msg = 0x445
self.updated_messages = set()

2
selfdrive/car/honda/values.py
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@ -987,4 +987,4 @@ ECU_FINGERPRINT = {
Ecu.fwdCamera: [0xE4, 0x194], # steer torque cmd
}
HONDA_BOSCH = [CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT]
HONDA_BOSCH = set([CAR.ACCORD, CAR.ACCORD_15, CAR.ACCORDH, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, CAR.CRV_HYBRID, CAR.INSIGHT])

3
selfdrive/car/hyundai/carstate.py
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@ -41,8 +41,7 @@ class CarState(CarStateBase):
ret.cruiseState.standstill = cp.vl["SCC11"]['SCCInfoDisplay'] == 4.
if ret.cruiseState.enabled:
is_set_speed_in_mph = int(cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"])
speed_conv = CV.MPH_TO_MS if is_set_speed_in_mph else CV.KPH_TO_MS
speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
ret.cruiseState.speed = cp.vl["SCC11"]['VSetDis'] * speed_conv
else:
ret.cruiseState.speed = 0

3
selfdrive/car/hyundai/interface.py
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@ -170,9 +170,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
events = self.create_common_events(ret)
#TODO: addd abs(self.CS.angle_steers) > 90 to 'steerTempUnavailable' event

12
selfdrive/car/hyundai/values.py
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@ -210,17 +210,17 @@ CHECKSUM = {
FEATURES = {
# which message has the gear
"use_cluster_gears": [CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30],
"use_tcu_gears": [CAR.KIA_OPTIMA, CAR.SONATA_2019],
"use_elect_gears": [CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ],
"use_cluster_gears": set([CAR.ELANTRA, CAR.KONA, CAR.ELANTRA_GT_I30]),
"use_tcu_gears": set([CAR.KIA_OPTIMA, CAR.SONATA_2019]),
"use_elect_gears": set([CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ]),
# these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
"use_fca": [CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE],
"use_fca": set([CAR.SONATA, CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ, CAR.KONA, CAR.KONA_EV, CAR.KIA_FORTE, CAR.PALISADE]),
"use_bsm": [CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90],
"use_bsm": set([CAR.SONATA, CAR.PALISADE, CAR.HYUNDAI_GENESIS, CAR.GENESIS_G80, CAR.GENESIS_G90]),
}
EV_HYBRID = [CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV]
EV_HYBRID = set([CAR.IONIQ_EV_LTD, CAR.IONIQ, CAR.KONA_EV])
DBC = {
CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),

2
selfdrive/car/interfaces.py
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@ -42,7 +42,7 @@ class CarInterfaceBase():
raise NotImplementedError
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
raise NotImplementedError
# returns a set of default params to avoid repetition in car specific params

4
selfdrive/car/mazda/carstate.py
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@ -162,8 +162,8 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [ ]
checks = [ ]
signals = []
checks = []
if CP.carFingerprint == CAR.CX5:
signals += [

5
selfdrive/car/mazda/interface.py
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@ -15,7 +15,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mazda"
@ -70,9 +70,6 @@ class CarInterface(CarInterfaceBase):
ret = self.CS.update(self.cp, self.cp_cam)
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
# TODO: button presses
ret.buttonEvents = []
# events
events = self.create_common_events(ret)

2
selfdrive/car/mock/interface.py
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@ -33,7 +33,7 @@ class CarInterface(CarInterfaceBase):
return accel
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "mock"
ret.safetyModel = car.CarParams.SafetyModel.noOutput

2
selfdrive/car/nissan/interface.py
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@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "nissan"

2
selfdrive/car/subaru/interface.py
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@ -11,7 +11,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
ret.carName = "subaru"

2
selfdrive/car/tests/test_car_interfaces.py
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@ -63,7 +63,7 @@ class TestCarInterfaces(unittest.TestCase):
# Run radar interface once
radar_interface.update([])
if hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
if not car_params.radarOffCan and hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
radar_interface._update([radar_interface.trigger_msg])
if __name__ == "__main__":

9
selfdrive/car/toyota/carstate.py
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@ -182,9 +182,14 @@ class CarState(CarStateBase):
@staticmethod
def get_cam_can_parser(CP):
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
signals = [
("FORCE", "PRE_COLLISION", 0),
("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)
]
# use steering message to check if panda is connected to frc
checks = [("STEERING_LKA", 42)]
checks = [
("STEERING_LKA", 42)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

1
selfdrive/car/toyota/interface.py
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@ -313,7 +313,6 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
ret.buttonEvents = []
# events
events = self.create_common_events(ret)

5
selfdrive/car/toyota/radar_interface.py
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@ -1,13 +1,10 @@
#!/usr/bin/env python3
import os
from opendbc.can.parser import CANParser
from cereal import car
from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
from selfdrive.car.interfaces import RadarInterfaceBase
def _create_radar_can_parser(car_fingerprint):
dbc_f = DBC[car_fingerprint]['radar']
if car_fingerprint in TSS2_CAR:
RADAR_A_MSGS = list(range(0x180, 0x190))
RADAR_B_MSGS = list(range(0x190, 0x1a0))
@ -25,7 +22,7 @@ def _create_radar_can_parser(car_fingerprint):
checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20]*(msg_a_n + msg_b_n)))
return CANParser(os.path.splitext(dbc_f)[0], signals, checks, 1)
return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
class RadarInterface(RadarInterfaceBase):
def __init__(self, CP):

6
selfdrive/car/toyota/values.py
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@ -1202,6 +1202,6 @@ DBC = {
CAR.LEXUS_NXH: dbc_dict('lexus_nx300h_2018_pt_generated', 'toyota_adas'),
}
NO_DSU_CAR = [CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
TSS2_CAR = [CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]
NO_STOP_TIMER_CAR = [CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2] # no resume button press required
NO_DSU_CAR = set([CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
TSS2_CAR = set([CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2])
NO_STOP_TIMER_CAR = set([CAR.RAV4H, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.RAV4_TSS2, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.SIENNA, CAR.RAV4H_TSS2, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2]) # no resume button press required

4
selfdrive/car/volkswagen/carcontroller.py
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@ -4,8 +4,6 @@ from selfdrive.car.volkswagen import volkswagencan
from selfdrive.car.volkswagen.values import DBC, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams
from opendbc.can.packer import CANPacker
VisualAlert = car.CarControl.HUDControl.VisualAlert
class CarController():
def __init__(self, dbc_name, CP, VM):
@ -114,7 +112,7 @@ class CarController():
if frame % P.LDW_STEP == 0:
hcaEnabled = True if enabled and not CS.out.standstill else False
if visual_alert == VisualAlert.steerRequired:
if visual_alert == car.CarControl.HUDControl.VisualAlert.steerRequired:
hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
else:
hud_alert = MQB_LDW_MESSAGES["none"]

2
selfdrive/car/volkswagen/carstate.py
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@ -53,7 +53,7 @@ class CarState(CarStateBase):
pt_cp.vl["Gateway_72"]['ZV_HD_offen']])
# Update seatbelt fastened status.
ret.seatbeltUnlatched = False if pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] == 3 else True
ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
# Update driver preference for metric. VW stores many different unit
# preferences, including separate units for for distance vs. speed.

6
selfdrive/car/volkswagen/interface.py
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@ -19,7 +19,7 @@ class CarInterface(CarInterfaceBase):
return float(accel) / 4.0
@staticmethod
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]): # pylint: disable=dangerous-default-value
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=None):
ret = CarInterfaceBase.get_std_params(candidate, fingerprint, has_relay)
# VW port is a community feature, since we don't own one to test
@ -64,7 +64,6 @@ class CarInterface(CarInterfaceBase):
# returns a car.CarState
def update(self, c, can_strings):
canMonoTimes = []
buttonEvents = []
# Process the most recent CAN message traffic, and check for validity
@ -77,7 +76,7 @@ class CarInterface(CarInterfaceBase):
ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# Update the EON metric configuration to match the car at first startup,
# Update the device metric configuration to match the car at first startup,
# or if there's been a change.
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
@ -101,7 +100,6 @@ class CarInterface(CarInterfaceBase):
ret.events = events.to_msg()
ret.buttonEvents = buttonEvents
ret.canMonoTimes = canMonoTimes
# update previous car states
self.displayMetricUnitsPrev = self.CS.displayMetricUnits

2
selfdrive/car/volkswagen/values.py
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@ -46,7 +46,7 @@ MQB_LDW_MESSAGES = {
}
class CAR:
GOLF = "Volkswagen Golf"
GOLF = "VOLKSWAGEN GOLF"
FINGERPRINTS = {
CAR.GOLF: [

1
selfdrive/car/volkswagen/volkswagencan.py
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@ -48,5 +48,4 @@ def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
"GRA_Tip_Stufe_2": CS.graTipStufe2,
"GRA_ButtonTypeInfo": CS.graButtonTypeInfo
}
return packer.make_can_msg("GRA_ACC_01", bus, values, idx)

2
selfdrive/test/process_replay/ref_commit
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@ -1 +1 @@
3a1b08eb9d0f82f4b15862431fe5164e752c1509
b4cf3ec3c29ef22741d5a85d50abc0937b5d40bd
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