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243 lines
9.8 KiB
243 lines
9.8 KiB
6 years ago
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from cereal import car
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from selfdrive.config import Conversions as CV
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from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
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from selfdrive.controls.lib.vehicle_model import VehicleModel
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from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
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from selfdrive.car.volkswagen.carstate import CarState, get_mqb_gateway_can_parser, get_mqb_extended_can_parser
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from common.params import Params
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
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from selfdrive.car.interfaces import CarInterfaceBase
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GEAR = car.CarState.GearShifter
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class CANBUS:
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gateway = 0
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extended = 2
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController):
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self.CP = CP
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self.CC = None
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self.frame = 0
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self.gasPressedPrev = False
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self.brakePressedPrev = False
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self.cruiseStateEnabledPrev = False
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self.displayMetricUnitsPrev = None
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self.buttonStatesPrev = BUTTON_STATES.copy()
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# *** init the major players ***
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self.CS = CarState(CP, CANBUS)
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self.VM = VehicleModel(CP)
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self.gw_cp = get_mqb_gateway_can_parser(CP, CANBUS)
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self.ex_cp = get_mqb_extended_can_parser(CP, CANBUS)
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# sending if read only is False
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if CarController is not None:
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self.CC = CarController(CANBUS, CP.carFingerprint)
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@staticmethod
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def compute_gb(accel, speed):
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return float(accel) / 4.0
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), vin="", has_relay=False):
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ret = car.CarParams.new_message()
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ret.carFingerprint = candidate
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ret.isPandaBlack = has_relay
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ret.carVin = vin
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if candidate == CAR.GOLF:
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# Set common MQB parameters that will apply globally
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ret.carName = "volkswagen"
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ret.safetyModel = car.CarParams.SafetyModel.volkswagen
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ret.enableCruise = True # Stock ACC still controls acceleration and braking
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ret.openpilotLongitudinalControl = False
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ret.steerControlType = car.CarParams.SteerControlType.torque
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# Steer torque is strongly rate limit and max value is decently high. Off to avoid false positives
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ret.steerLimitAlert = False
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# Additional common MQB parameters that may be overridden per-vehicle
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ret.steerRateCost = 0.5
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ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
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ret.steerMaxBP = [0.] # m/s
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ret.steerMaxV = [1.]
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# As a starting point for speed-adjusted lateral tuning, use the example
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# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
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# whether the driver assist map breakpoints have any direct bearing on
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# HCA assist torque, but if they're good breakpoints for the driver,
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# they're probably good breakpoints for HCA as well. OP won't be driving
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# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
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ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
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ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
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# FIXME: Per-vehicle parameters need to be reintegrated.
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# For the time being, per-vehicle stuff is being archived since we
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# can't auto-detect very well yet. Now that tuning is figured out,
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# averaged params should work reasonably on a range of cars. Owners
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# can tweak here, as needed, until we have car type auto-detection.
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ret.mass = 1700 + STD_CARGO_KG
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ret.wheelbase = 2.75
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ret.centerToFront = ret.wheelbase * 0.45
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ret.steerRatio = 15.6
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
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ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
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tire_stiffness_factor = 0.6
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ret.enableCamera = True # Stock camera detection doesn't apply to VW
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ret.transmissionType = car.CarParams.TransmissionType.automatic
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ret.steerRatioRear = 0.
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# No support for OP longitudinal control on Volkswagen at this time.
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ret.gasMaxBP = [0.]
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ret.gasMaxV = [0.]
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ret.brakeMaxBP = [0.]
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ret.brakeMaxV = [0.]
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ret.longitudinalTuning.deadzoneBP = [0.]
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ret.longitudinalTuning.deadzoneV = [0.]
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ret.longitudinalTuning.kpBP = [0.]
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ret.longitudinalTuning.kpV = [0.]
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ret.longitudinalTuning.kiBP = [0.]
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ret.longitudinalTuning.kiV = [0.]
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# TODO: get actual value, for now starting with reasonable value for
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# civic and scaling by mass and wheelbase
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
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# mass and CG position, so all cars will have approximately similar dyn behaviors
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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canMonoTimes = []
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events = []
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buttonEvents = []
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params = Params()
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ret = car.CarState.new_message()
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# Process the most recent CAN message traffic, and check for validity
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self.gw_cp.update_strings(can_strings)
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self.ex_cp.update_strings(can_strings)
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self.CS.update(self.gw_cp, self.ex_cp)
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ret.canValid = self.gw_cp.can_valid and self.ex_cp.can_valid
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# Wheel and vehicle speed, yaw rate
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ret.wheelSpeeds.fl = self.CS.wheelSpeedFL
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ret.wheelSpeeds.fr = self.CS.wheelSpeedFR
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ret.wheelSpeeds.rl = self.CS.wheelSpeedRL
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ret.wheelSpeeds.rr = self.CS.wheelSpeedRR
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ret.vEgoRaw = self.CS.vEgoRaw
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ret.vEgo = self.CS.vEgo
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ret.aEgo = self.CS.aEgo
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ret.standstill = self.CS.standstill
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# Steering wheel position, movement, yaw rate, and driver input
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ret.steeringAngle = self.CS.steeringAngle
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ret.steeringRate = self.CS.steeringRate
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ret.steeringTorque = self.CS.steeringTorque
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ret.steeringPressed = self.CS.steeringPressed
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ret.yawRate = self.CS.yawRate
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# Gas, brakes and shifting
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ret.gas = self.CS.gas
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ret.gasPressed = self.CS.gasPressed
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ret.brake = self.CS.brake
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ret.brakePressed = self.CS.brakePressed
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ret.brakeLights = self.CS.brakeLights
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ret.gearShifter = self.CS.gearShifter
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# Doors open, seatbelt unfastened
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ret.doorOpen = self.CS.doorOpen
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ret.seatbeltUnlatched = self.CS.seatbeltUnlatched
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# Update the EON metric configuration to match the car at first startup,
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# or if there's been a change.
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if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
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params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0")
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# Blinker switch updates
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ret.leftBlinker = self.CS.buttonStates["leftBlinker"]
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ret.rightBlinker = self.CS.buttonStates["rightBlinker"]
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# ACC cruise state
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ret.cruiseState.available = self.CS.accAvailable
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ret.cruiseState.enabled = self.CS.accEnabled
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ret.cruiseState.speed = self.CS.accSetSpeed
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# Check for and process state-change events (button press or release) from
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# the turn stalk switch or ACC steering wheel/control stalk buttons.
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for button in self.CS.buttonStates:
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if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
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be = car.CarState.ButtonEvent.new_message()
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be.type = button
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be.pressed = self.CS.buttonStates[button]
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buttonEvents.append(be)
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# Vehicle operation safety checks and events
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if ret.doorOpen:
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events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.seatbeltUnlatched:
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events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if ret.gearShifter == GEAR.reverse:
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events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if not ret.gearShifter in [GEAR.drive, GEAR.eco, GEAR.sport]:
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events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.stabilityControlDisabled:
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events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
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if self.CS.parkingBrakeSet:
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events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
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# Vehicle health safety checks and events
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if self.CS.accFault:
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events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
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if self.CS.steeringFault:
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events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
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# Per the Comma safety model, disable on pedals rising edge or when brake
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# is pressed and speed isn't zero.
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if (ret.gasPressed and not self.gasPressedPrev) or \
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(ret.brakePressed and (not self.brakePressedPrev or not ret.standstill)):
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events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
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if ret.gasPressed:
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events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
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# Engagement and longitudinal control using stock ACC. Make sure OP is
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# disengaged if stock ACC is disengaged.
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if not ret.cruiseState.enabled:
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events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
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# Attempt OP engagement only on rising edge of stock ACC engagement.
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elif not self.cruiseStateEnabledPrev:
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events.append(create_event('pcmEnable', [ET.ENABLE]))
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ret.events = events
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ret.buttonEvents = buttonEvents
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ret.canMonoTimes = canMonoTimes
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# update previous car states
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self.gasPressedPrev = ret.gasPressed
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self.brakePressedPrev = ret.brakePressed
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self.cruiseStateEnabledPrev = ret.cruiseState.enabled
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self.displayMetricUnitsPrev = self.CS.displayMetricUnits
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self.buttonStatesPrev = self.CS.buttonStates.copy()
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# cast to reader so it can't be modified
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return ret.as_reader()
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
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c.hudControl.visualAlert,
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c.hudControl.audibleAlert,
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c.hudControl.leftLaneVisible,
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c.hudControl.rightLaneVisible)
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self.frame += 1
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return can_sends
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