diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index a24c524047..36bb6aa840 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,6 +1,6 @@ FROM ghcr.io/commaai/openpilot-base:latest -RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb RUN pip install ipython jupyter jupyterlab RUN cd /tmp && \ diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index a7a63658ed..f1cfc82159 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -18,7 +18,6 @@ "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority", "--volume=${localEnv:HOME}/.comma:/home/batman/.comma", "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", - "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", "--shm-size=1G", "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux "--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services @@ -43,5 +42,8 @@ "lharri73.dbc" ] } - } + }, + "mounts": [ + "type=volume,source=scons_cache,target=/tmp/scons_cache" + ] } \ No newline at end of file diff --git a/SConstruct b/SConstruct index dac3529892..c08fe48f66 100644 --- a/SConstruct +++ b/SConstruct @@ -386,7 +386,7 @@ SConscript(['third_party/SConscript']) SConscript(['selfdrive/SConscript']) -if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'): +if Dir('#tools/cabana/').exists() and GetOption('extras'): SConscript(['tools/replay/SConscript']) SConscript(['tools/cabana/SConscript']) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index a5909f71af..27d320bb41 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,5 +1,5 @@ # functions common among cars -from collections import namedtuple +from collections import defaultdict, namedtuple from dataclasses import dataclass from enum import IntFlag, ReprEnum from dataclasses import replace @@ -245,17 +245,17 @@ class CanSignalRateCalculator: return self.rate -CarInfos = CarInfo | list[CarInfo] +CarInfos = CarInfo | list[CarInfo] | None @dataclass(frozen=True, kw_only=True) class CarSpecs: mass: float # kg, curb weight - wheelbase: float + wheelbase: float # meters steerRatio: float centerToFrontRatio: float = 0.5 - minSteerSpeed: float = 0.0 - minEnableSpeed: float = -1.0 + minSteerSpeed: float = 0.0 # m/s + minEnableSpeed: float = -1.0 # m/s tireStiffnessFactor: float = 1.0 @@ -302,3 +302,15 @@ class Platforms(str, ReprEnum): @classmethod def with_flags(cls, flags: IntFlag) -> set['Platforms']: return {p for p in cls if p.config.flags & flags} + + @classmethod + def print_debug(cls, flags): + platforms_with_flag = defaultdict(list) + for flag in flags: + for platform in cls: + if platform.config.flags & flag: + assert flag.name is not None + platforms_with_flag[flag.name].append(platform) + + for flag, platforms in platforms_with_flag.items(): + print(f"{flag:32s}: {', '.join(p.name for p in platforms)}") diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8fa7664b66..d6bfd4e0cb 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu class ChryslerFlags(IntFlag): + # Detected flags HIGHER_MIN_STEERING_SPEED = 1 @dataclass @@ -21,7 +22,7 @@ class ChryslerCarInfo(CarInfo): @dataclass class ChryslerPlatformConfig(PlatformConfig): - dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None)) + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion')) @dataclass(frozen=True) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a4cf647c0f..71008e5001 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -92,10 +92,6 @@ class CarInterface(CarInterfaceBase): eps_modified = True if candidate == CAR.CIVIC: - ret.mass = 1326. - ret.wheelbase = 2.70 - ret.centerToFront = ret.wheelbase * 0.4 - ret.steerRatio = 15.38 # 10.93 is end-to-end spec if eps_modified: # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 @@ -110,18 +106,10 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): - ret.mass = 1326. - ret.wheelbase = 2.70 - ret.centerToFront = ret.wheelbase * 0.4 - ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACCORD: - ret.mass = 3279. * CV.LB_TO_KG - ret.wheelbase = 2.83 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.8467 @@ -131,29 +119,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: - ret.mass = 3095. * CV.LB_TO_KG - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.37 - ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): - ret.mass = 3572. * CV.LB_TO_KG - ret.wheelbase = 2.62 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.89 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_5G: - ret.mass = 3410. * CV.LB_TO_KG - ret.wheelbase = 2.66 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.0 # 12.3 is spec end-to-end if eps_modified: # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 @@ -167,39 +143,22 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: - ret.mass = 1667. # mean of 4 models in kg - ret.wheelbase = 2.66 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: - ret.mass = 2644. * CV.LB_TO_KG - ret.wheelbase = 2.53 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: - ret.mass = 3086. * CV.LB_TO_KG - ret.wheelbase = 2.74 - # the remaining parameters were copied from FIT - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate in (CAR.HRV, CAR.HRV_3G): - ret.mass = 3125 * CV.LB_TO_KG - ret.wheelbase = 2.61 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.tireStiffnessFactor = 0.5 if candidate == CAR.HRV: @@ -209,28 +168,16 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: - ret.mass = 3935. * CV.LB_TO_KG - ret.wheelbase = 2.68 - ret.centerToFront = ret.wheelbase * 0.38 - ret.steerRatio = 15.0 # as spec ret.tireStiffnessFactor = 0.444 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: - ret.mass = 4068. * CV.LB_TO_KG - ret.wheelbase = 2.75 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.tireStiffnessFactor = 0.677 elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): - ret.mass = 1900. - ret.wheelbase = 3.00 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 14.35 # as spec ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] if candidate == CAR.ODYSSEY_CHN: @@ -239,37 +186,21 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end elif candidate == CAR.PILOT: - ret.mass = 4278. * CV.LB_TO_KG # average weight - ret.wheelbase = 2.86 - ret.centerToFront = ret.wheelbase * 0.428 - ret.steerRatio = 16.0 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: - ret.mass = 4515. * CV.LB_TO_KG - ret.wheelbase = 3.18 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: - ret.mass = 2987. * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: - ret.mass = 3338.8 * CV.LB_TO_KG - ret.wheelbase = 2.5 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 16.71 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index ce4a531d01..abe710528c 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1,10 +1,10 @@ from dataclasses import dataclass -from enum import Enum, IntFlag, StrEnum +from enum import Enum, IntFlag from cereal import car from openpilot.common.conversions import Conversions as CV from panda.python import uds -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 @@ -46,10 +46,21 @@ class CarControllerParams: class HondaFlags(IntFlag): + # Detected flags # Bosch models with alternate set of LKAS_HUD messages BOSCH_EXT_HUD = 1 BOSCH_ALT_BRAKE = 2 + # Static flags + BOSCH = 4 + BOSCH_RADARLESS = 8 + + NIDEC = 16 + NIDEC_ALT_PCM_ACCEL = 32 + NIDEC_ALT_SCM_MESSAGES = 64 + + AUTORESUME_SNG = 128 + ELECTRIC_PARKING_BRAKE = 256 # Car button codes class CruiseButtons: @@ -72,86 +83,203 @@ VISUAL_HUD = { } -class CAR(StrEnum): - ACCORD = "HONDA ACCORD 2018" - CIVIC = "HONDA CIVIC 2016" - CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" - CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" - CIVIC_2022 = "HONDA CIVIC 2022" - ACURA_ILX = "ACURA ILX 2016" - CRV = "HONDA CR-V 2016" - CRV_5G = "HONDA CR-V 2017" - CRV_EU = "HONDA CR-V EU 2016" - CRV_HYBRID = "HONDA CR-V HYBRID 2019" - FIT = "HONDA FIT 2018" - FREED = "HONDA FREED 2020" - HRV = "HONDA HRV 2019" - HRV_3G = "HONDA HR-V 2023" - ODYSSEY = "HONDA ODYSSEY 2018" - ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" - ACURA_RDX = "ACURA RDX 2018" - ACURA_RDX_3G = "ACURA RDX 2020" - PILOT = "HONDA PILOT 2017" - RIDGELINE = "HONDA RIDGELINE 2017" - INSIGHT = "HONDA INSIGHT 2019" - HONDA_E = "HONDA E 2020" - - -class Footnote(Enum): - CIVIC_DIESEL = CarFootnote( - "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", - Column.FSR_STEERING) - - @dataclass class HondaCarInfo(CarInfo): package: str = "Honda Sensing" def init_make(self, CP: car.CarParams): - if CP.carFingerprint in HONDA_BOSCH: - self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) + if CP.flags & HondaFlags.BOSCH: + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) else: self.car_parts = CarParts.common([CarHarness.nidec]) -CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = { - CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), - HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), - HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - ], - CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), - CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", - footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), - HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), - ], - CAR.CIVIC_BOSCH_DIESEL: None, # same platform - CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), - HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), - ], - CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), - CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), - CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey - CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CAR.PILOT: [ - HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), - ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), -} +class Footnote(Enum): + CIVIC_DIESEL = CarFootnote( + "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", + Column.FSR_STEERING) + + +class HondaPlatformConfig(PlatformConfig): + def init(self): + if self.flags & HondaFlags.BOSCH: + self.flags |= HondaFlags.AUTORESUME_SNG + self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE + + +class CAR(Platforms): + # Bosch Cars + ACCORD = HondaPlatformConfig( + "HONDA ACCORD 2018", + [ + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + ], + dbc_dict('honda_accord_2018_can_generated', None), + specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end + flags=HondaFlags.BOSCH, + ) + CIVIC_BOSCH = HondaPlatformConfig( + "HONDA CIVIC (BOSCH) 2019", + [ + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", + footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), + ], + dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec + flags=HondaFlags.BOSCH + ) + CIVIC_BOSCH_DIESEL = HondaPlatformConfig( + "HONDA CIVIC SEDAN 1.6 DIESEL 2019", + None, # don't show in docs + dbc_dict('honda_accord_2018_can_generated', None), + specs=CIVIC_BOSCH.specs, + flags=HondaFlags.BOSCH + ) + CIVIC_2022 = HondaPlatformConfig( + "HONDA CIVIC 2022", + [ + HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + ], + dbc_dict('honda_civic_ex_2022_can_generated', None), + specs=CIVIC_BOSCH.specs, + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, + ) + CRV_5G = HondaPlatformConfig( + "HONDA CR-V 2017", + HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), + specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end + flags=HondaFlags.BOSCH, + ) + CRV_HYBRID = HondaPlatformConfig( + "HONDA CR-V HYBRID 2019", + HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_accord_2018_can_generated', None), + specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end + flags=HondaFlags.BOSCH + ) + HRV_3G = HondaPlatformConfig( + "HONDA HR-V 2023", + HondaCarInfo("Honda HR-V 2023", "All"), + dbc_dict('honda_civic_ex_2022_can_generated', None), + specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS + ) + ACURA_RDX_3G = HondaPlatformConfig( + "ACURA RDX 2020", + HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2020_can_generated', None), + specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec + flags=HondaFlags.BOSCH + ) + INSIGHT = HondaPlatformConfig( + "HONDA INSIGHT 2019", + HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('honda_insight_ex_2019_can_generated', None), + specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec + flags=HondaFlags.BOSCH + ) + HONDA_E = HondaPlatformConfig( + "HONDA E 2020", + HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2020_can_generated', None), + specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), + flags=HondaFlags.BOSCH + ) + + # Nidec Cars + ACURA_ILX = HondaPlatformConfig( + "ACURA ILX 2016", + HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CRV = HondaPlatformConfig( + "HONDA CR-V 2016", + HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CRV_EU = HondaPlatformConfig( + "HONDA CR-V EU 2016", + None, # Euro version of CRV Touring, don't show in docs + dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CRV.specs, + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + FIT = HondaPlatformConfig( + "HONDA FIT 2018", + HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + FREED = HondaPlatformConfig( + "HONDA FREED 2020", + HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HRV = HondaPlatformConfig( + "HONDA HRV 2019", + HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=HRV_3G.specs, + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + ODYSSEY = HondaPlatformConfig( + "HONDA ODYSSEY 2018", + HondaCarInfo("Honda Odyssey 2018-20"), + dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL + ) + ODYSSEY_CHN = HondaPlatformConfig( + "HONDA ODYSSEY CHN 2019", + None, # Chinese version of Odyssey, don't show in docs + dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), + specs=ODYSSEY.specs, + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES + ) + ACURA_RDX = HondaPlatformConfig( + "ACURA RDX 2018", + HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + PILOT = HondaPlatformConfig( + "HONDA PILOT 2017", + [ + HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), + ], + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + RIDGELINE = HondaPlatformConfig( + "HONDA RIDGELINE 2017", + HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CIVIC = HondaPlatformConfig( + "HONDA CIVIC 2016", + HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), + dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec + flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, + ) + HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xF112) @@ -217,40 +345,16 @@ FW_QUERY_CONFIG = FwQueryConfig( ) -DBC = { - CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), - CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), - CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), - CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None), - CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), - CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None), - CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), - CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), - CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), - CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), - CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), - CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None), -} - STEER_THRESHOLD = { # default is 1200, overrides go here CAR.ACURA_RDX: 400, CAR.CRV_EU: 400, } -HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} -HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, - CAR.PILOT, CAR.RIDGELINE} -HONDA_BOSCH = {CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL) +HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES) +HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH) +HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b0851abf55..ee7f441227 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -135,7 +135,7 @@ class CarController(CarControllerBase): # button presses can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) else: - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning)) @@ -175,12 +175,12 @@ class CarController(CarControllerBase): can_sends = [] if use_clu11: if CC.cruiseControl.cancel: - can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP)) elif CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted - can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25) if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: self.last_button_frame = self.frame else: diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index bc29aeb985..0bf29664e8 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,9 +1,9 @@ import crcmod -from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR +from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) -def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, +def create_lkas11(packer, frame, CP, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): @@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq values["CF_Lkas_MsgCount"] = frame % 0x10 - if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, - CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, - CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, - CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN): + if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, + CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, + CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 @@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 # Likely cars lacking the ability to show individual lane lines in the dash - elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): + elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 @@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_LdwsActivemode"] = 0 values["CF_Lkas_FcwOpt_USM"] = 0 - elif car_fingerprint == CAR.HYUNDAI_GENESIS: + elif CP.carFingerprint == CAR.HYUNDAI_GENESIS: # This field is actually LdwsActivemode # Genesis and Optima fault when forwarding while engaged values["CF_Lkas_LdwsActivemode"] = 2 dat = packer.make_can_msg("LKAS11", 0, values)[2] - if car_fingerprint in CHECKSUM["crc8"]: + if CP.flags & HyundaiFlags.CHECKSUM_CRC8: # CRC Checksum as seen on 2019 Hyundai Santa Fe dat = dat[:6] + dat[7:8] checksum = hyundai_checksum(dat) - elif car_fingerprint in CHECKSUM["6B"]: + elif CP.flags & HyundaiFlags.CHECKSUM_6B: # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento checksum = sum(dat[:6]) % 256 else: @@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, return packer.make_can_msg("LKAS11", 0, values) -def create_clu11(packer, frame, clu11, button, car_fingerprint): +def create_clu11(packer, frame, clu11, button, CP): values = {s: clu11[s] for s in [ "CF_Clu_CruiseSwState", "CF_Clu_CruiseSwMain", @@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint): values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 # send buttons to camera on camera-scc based cars - bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0 + bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0 return packer.make_can_msg("CLU11", bus, values) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 76ff0b39ce..d23d3a0a75 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,11 +1,11 @@ import re -from dataclasses import dataclass -from enum import Enum, IntFlag, StrEnum +from dataclasses import dataclass, field +from enum import Enum, IntFlag from cereal import car from panda.python import uds from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 @@ -52,92 +52,46 @@ class CarControllerParams: class HyundaiFlags(IntFlag): + # Dynamic Flags CANFD_HDA2 = 1 CANFD_ALT_BUTTONS = 2 - CANFD_ALT_GEARS = 4 - CANFD_CAMERA_SCC = 8 + CANFD_ALT_GEARS = 2 ** 2 + CANFD_CAMERA_SCC = 2 ** 3 - ALT_LIMITS = 16 - ENABLE_BLINKERS = 32 - CANFD_ALT_GEARS_2 = 64 - SEND_LFA = 128 - USE_FCA = 256 - CANFD_HDA2_ALT_STEERING = 512 - HYBRID = 1024 - EV = 2048 + ALT_LIMITS = 2 ** 4 + ENABLE_BLINKERS = 2 ** 5 + CANFD_ALT_GEARS_2 = 2 ** 6 + SEND_LFA = 2 ** 7 + USE_FCA = 2 ** 8 + CANFD_HDA2_ALT_STEERING = 2 ** 9 + # these cars use a different gas signal + HYBRID = 2 ** 10 + EV = 2 ** 11 -class CAR(StrEnum): - # Hyundai - AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" - AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN" - ELANTRA = "HYUNDAI ELANTRA 2017" - ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" - ELANTRA_2021 = "HYUNDAI ELANTRA 2021" - ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" - HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" - IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" - IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" - IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019" - IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020" - IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" - IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020" - KONA = "HYUNDAI KONA 2020" - KONA_EV = "HYUNDAI KONA ELECTRIC 2019" - KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022" - KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN" - KONA_HEV = "HYUNDAI KONA HYBRID 2020" - SANTA_FE = "HYUNDAI SANTA FE 2019" - SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" - SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022" - SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" - SONATA = "HYUNDAI SONATA 2020" - SONATA_LF = "HYUNDAI SONATA 2019" - STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN" - TUCSON = "HYUNDAI TUCSON 2019" - PALISADE = "HYUNDAI PALISADE 2020" - VELOSTER = "HYUNDAI VELOSTER 2019" - SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" - IONIQ_5 = "HYUNDAI IONIQ 5 2022" - IONIQ_6 = "HYUNDAI IONIQ 6 2023" - TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" - SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" - CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN" + # Static Flags - # Kia - KIA_FORTE = "KIA FORTE E 2018 & GT 2021" - KIA_K5_2021 = "KIA K5 2021" - KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" - KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN" - KIA_NIRO_EV = "KIA NIRO EV 2020" - KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" - KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" - KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" - KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" - KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" - KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" - KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" - KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" - KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT" - KIA_SELTOS = "KIA SELTOS 2021" - KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" - KIA_SORENTO = "KIA SORENTO GT LINE 2018" - KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" - KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" - KIA_STINGER = "KIA STINGER GT2 2018" - KIA_STINGER_2022 = "KIA STINGER 2022" - KIA_CEED = "KIA CEED INTRO ED 2019" - KIA_EV6 = "KIA EV6 2022" - KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN" + # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. + # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py + MANDO_RADAR = 2 ** 12 + CANFD = 2 ** 13 - # Genesis - GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" - GENESIS_G70 = "GENESIS G70 2018" - GENESIS_G70_2020 = "GENESIS G70 2020" - GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" - GENESIS_G80 = "GENESIS G80 2017" - GENESIS_G90 = "GENESIS G90 2017" - GENESIS_GV80 = "GENESIS GV80 2023" + # The radar does SCC on these cars when HDA I, rather than the camera + RADAR_SCC = 2 ** 14 + CAMERA_SCC = 2 ** 15 + CHECKSUM_CRC8 = 2 ** 16 + CHECKSUM_6B = 2 ** 17 + + # these cars require a special panda safety mode due to missing counters and checksums in the messages + LEGACY = 2 ** 18 + + # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. + UNSUPPORTED_LONGITUDINAL = 2 ** 19 + + CANFD_NO_RADAR_DISABLE = 2 ** 20 + + CLUSTER_GEARS = 2 ** 21 + TCU_GEARS = 2 ** 22 class Footnote(Enum): @@ -152,160 +106,425 @@ class HyundaiCarInfo(CarInfo): package: str = "Smart Cruise Control (SCC)" def init_make(self, CP: car.CarParams): - if CP.carFingerprint in CANFD_CAR: + if CP.flags & HyundaiFlags.CANFD: self.footnotes.insert(0, Footnote.CANFD) -CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = { - CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.AZERA_HEV_6TH_GEN: [ - HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - ], - CAR.ELANTRA: [ - # TODO: 2017-18 could be Hyundai G - HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), - HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), - ], - CAR.ELANTRA_GT_I30: [ - HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", +@dataclass +class HyundaiPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None)) + + def init(self): + if self.flags & HyundaiFlags.MANDO_RADAR: + self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated') + + +@dataclass +class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None)) + + def init(self): + super().init() + self.flags |= HyundaiFlags.CANFD + + +class CAR(Platforms): + # Hyundai + AZERA_6TH_GEN = HyundaiPlatformConfig( + "HYUNDAI AZERA 6TH GEN", + HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( + "HYUNDAI AZERA HYBRID 6TH GEN", + [ + HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + flags=HyundaiFlags.HYBRID + ) + ELANTRA = HyundaiPlatformConfig( + "HYUNDAI ELANTRA 2017", + [ + # TODO: 2017-18 could be Hyundai G + HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + ], + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + ) + ELANTRA_GT_I30 = HyundaiPlatformConfig( + "HYUNDAI I30 N LINE 2019 & GT 2018 DCT", + [ + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + ) + ELANTRA_2021 = HyundaiPlatformConfig( + "HYUNDAI ELANTRA 2021", + HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + ELANTRA_HEV_2021 = HyundaiPlatformConfig( + "HYUNDAI ELANTRA HYBRID 2021", + HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.HYUNDAI_GENESIS: [ - # TODO: check 2015 packages - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), - ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages - # TODO: this is the 2024 US MY, not yet released - CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + HYUNDAI_GENESIS = HyundaiPlatformConfig( + "HYUNDAI GENESIS 2015-2016", + [ + # TODO: check 2015 packages + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + ], + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY + ) + IONIQ = HyundaiPlatformConfig( + "HYUNDAI IONIQ HYBRID 2017-2019", + HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID + ) + IONIQ_HEV_2022 = HyundaiPlatformConfig( + "HYUNDAI IONIQ HYBRID 2020-2022", + HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + ) + IONIQ_EV_LTD = HyundaiPlatformConfig( + "HYUNDAI IONIQ ELECTRIC LIMITED 2019", + HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY + ) + IONIQ_EV_2020 = HyundaiPlatformConfig( + "HYUNDAI IONIQ ELECTRIC 2020", + HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.EV + ) + IONIQ_PHEV_2019 = HyundaiPlatformConfig( + "HYUNDAI IONIQ PLUG-IN HYBRID 2019", + HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID + ) + IONIQ_PHEV = HyundaiPlatformConfig( + "HYUNDAI IONIQ PHEV 2020", + HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.HYBRID + ) + KONA = HyundaiPlatformConfig( + "HYUNDAI KONA 2020", + HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + flags=HyundaiFlags.CLUSTER_GEARS + ) + KONA_EV = HyundaiPlatformConfig( + "HYUNDAI KONA ELECTRIC 2019", + HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.EV + ) + KONA_EV_2022 = HyundaiPlatformConfig( + "HYUNDAI KONA ELECTRIC 2022", + HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), + flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV + ) + KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI KONA ELECTRIC 2ND GEN", + HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + ) + KONA_HEV = HyundaiPlatformConfig( + "HYUNDAI KONA HYBRID 2020", + HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, + flags=HyundaiFlags.HYBRID + ) + SANTA_FE = HyundaiPlatformConfig( + "HYUNDAI SANTA FE 2019", + HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", car_parts=CarParts.common([CarHarness.hyundai_d])), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + SANTA_FE_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE 2022", + HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + SANTA_FE_HEV_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE HYBRID 2022", + HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", + HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + SONATA = HyundaiPlatformConfig( + "HYUNDAI SONATA 2020", + HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), - ], - CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), - HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), - ], - CAR.IONIQ_6: [ + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + SONATA_LF = HyundaiPlatformConfig( + "HYUNDAI SONATA 2019", + HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + ) + STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI STARIA 4TH GEN", + HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + TUCSON = HyundaiPlatformConfig( + "HYUNDAI TUCSON 2019", + [ + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), + ], + flags=HyundaiFlags.TCU_GEARS + ) + PALISADE = HyundaiPlatformConfig( + "HYUNDAI PALISADE 2020", + [ + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + VELOSTER = HyundaiPlatformConfig( + "HYUNDAI VELOSTER 2019", + HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + ) + SONATA_HYBRID = HyundaiPlatformConfig( + "HYUNDAI SONATA HYBRID 2021", + HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + IONIQ_5 = HyundaiCanFDPlatformConfig( + "HYUNDAI IONIQ 5 2022", + [ + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ], + flags=HyundaiFlags.EV + ) + IONIQ_6 = HyundaiCanFDPlatformConfig( + "HYUNDAI IONIQ 6 2023", HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), - ], - CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), - ], - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), - CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + ) + TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI TUCSON 4TH GEN", + [ + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + ) + SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI SANTA CRUZ 1ST GEN", + HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), + ) + CUSTIN_1ST_GEN = HyundaiPlatformConfig( + "HYUNDAI CUSTIN 1ST GEN", + HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) # Kia - CAR.KIA_FORTE: [ + KIA_FORTE = HyundaiPlatformConfig( + "KIA FORTE E 2018 & GT 2021", + [ HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), - CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), - ], - CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), - ], - CAR.KIA_NIRO_PHEV_2022: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - ], - CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), - HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), - ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", + ] + ) + KIA_K5_2021 = HyundaiPlatformConfig( + "KIA K5 2021", + HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + KIA_K5_HEV_2020 = HyundaiPlatformConfig( + "KIA K5 HYBRID 2020", + HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( + "KIA K8 HYBRID 1ST GEN", + HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ) + KIA_NIRO_EV = HyundaiPlatformConfig( + "KIA NIRO EV 2020", + [ + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV + ) + KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + "KIA NIRO EV 2ND GEN", + HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.EV + ) + KIA_NIRO_PHEV = HyundaiPlatformConfig( + "KIA NIRO HYBRID 2019", + [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( + "KIA NIRO PLUG-IN HYBRID 2022", + [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR + ) + KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( + "KIA NIRO HYBRID 2021", + [ + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + flags=HyundaiFlags.HYBRID + ) + KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( + "KIA NIRO HYBRID 2ND GEN", + HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + ) + KIA_OPTIMA_G4 = HyundaiPlatformConfig( + "KIA OPTIMA 4TH GEN", + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + ) + KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( + "KIA OPTIMA 4TH GEN FACELIFT", + HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + ) # TODO: may support adjacent years. may have a non-zero minimum steering speed - CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_5TH_GEN: [ - HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), - ], - CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", + KIA_OPTIMA_H = HyundaiPlatformConfig( + "KIA OPTIMA HYBRID 2017 & SPORTS 2019", + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + ) + KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( + "KIA OPTIMA HYBRID 4TH GEN FACELIFT", + HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_SELTOS = HyundaiPlatformConfig( + "KIA SELTOS 2021", + HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SPORTAGE 5TH GEN", + [ + HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + ) + KIA_SORENTO = HyundaiPlatformConfig( + "KIA SORENTO GT LINE 2018", + [ + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_HEV_4TH_GEN: [ - HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - ], - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", - car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) - ], - CAR.KIA_CARNIVAL_4TH_GEN: [ - HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) - ], + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SORENTO 4TH GEN", + HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.RADAR_SCC + ) + KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SORENTO HYBRID 4TH GEN", + [ + HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + ], + flags=HyundaiFlags.RADAR_SCC + ) + KIA_STINGER = HyundaiPlatformConfig( + "KIA STINGER GT2 2018", + HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", + car_parts=CarParts.common([CarHarness.hyundai_c])) + ) + KIA_STINGER_2022 = HyundaiPlatformConfig( + "KIA STINGER 2022", + HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + KIA_CEED = HyundaiPlatformConfig( + "KIA CEED INTRO ED 2019", + HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.LEGACY + ) + KIA_EV6 = HyundaiCanFDPlatformConfig( + "KIA EV6 2022", + [ + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + ], + flags=HyundaiFlags.EV + ) + KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA CARNIVAL 4TH GEN", + [ + HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) + ], + flags=HyundaiFlags.RADAR_SCC + ) # Genesis - CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - CAR.GENESIS_GV70_1ST_GEN: [ - HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), - ], - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), -} + GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig( + "GENESIS GV60 ELECTRIC 1ST GEN", + [ + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + flags=HyundaiFlags.EV + ) + GENESIS_G70 = HyundaiPlatformConfig( + "GENESIS G70 2018", + HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + flags=HyundaiFlags.LEGACY + ) + GENESIS_G70_2020 = HyundaiPlatformConfig( + "GENESIS G70 2020", + HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + flags=HyundaiFlags.MANDO_RADAR + ) + GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( + "GENESIS GV70 1ST GEN", + [ + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + ], + flags=HyundaiFlags.RADAR_SCC + ) + GENESIS_G80 = HyundaiPlatformConfig( + "GENESIS G80 2017", + HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.LEGACY + ) + GENESIS_G90 = HyundaiPlatformConfig( + "GENESIS G90 2017", + HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + ) + GENESIS_GV80 = HyundaiCanFDPlatformConfig( + "GENESIS GV80 2023", + HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + flags=HyundaiFlags.RADAR_SCC + ) + class Buttons: NONE = 0 @@ -518,118 +737,37 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) - CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, - CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, - CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN], - "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], + "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8), + "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B), } CAN_GEARS = { # which message has the gear. hybrid and EV use ELECT_GEAR - "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, - "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, + "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS), + "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS), } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, - CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN, - CAR.STARIA_4TH_GEN} - -# The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} +CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD) +CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # These CAN FD cars do not accept communication control to disable the ADAS ECU, # responds with 0x7F2822 - 'conditions not correct' -CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN} +CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) # The camera does SCC on these cars, rather than the radar -CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } - -# these cars use a different gas signal -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, - CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020, - CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} - -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, - CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} - -# these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4, - CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, - CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} - -# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. -UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL, - CAR.KIA_OPTIMA_H_G4_FL} - -# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. -# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py -DBC = { - CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), - CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format - CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KONA: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format - CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), - CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), - CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), - CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), - CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), - CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None), -} +CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC) + +HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID) + +EV_CAR = CAR.with_flags(HyundaiFlags.EV) + +LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY) + +UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() + +if __name__ == "__main__": + CAR.print_debug(HyundaiFlags) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 3f3b7a9494..8d3a59b4ea 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -36,13 +36,13 @@ class CarController(CarControllerBase): if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): # Cancel Stock ACC if it's enabled while OP is disengaged # Send at a rate of 10hz until we sync with stock ACC state - can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL)) else: self.brake_counter = 0 if CC.cruiseControl.resume and self.frame % 5 == 0: # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds # Send Resume button when planner wants car to move - can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME)) self.apply_steer_last = apply_steer @@ -55,7 +55,7 @@ class CarController(CarControllerBase): can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) # send steering command - can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint, + can_sends.append(mazdacan.create_steering_control(self.packer, self.CP, self.frame, apply_steer, CS.cam_lkas)) new_actuators = CC.actuators.copy() diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index c0819592d4..37a67ecd93 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase -from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags class CarState(CarStateBase): def __init__(self, CP): @@ -116,7 +116,7 @@ class CarState(CarStateBase): ("WHEEL_SPEEDS", 100), ] - if CP.carFingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: messages += [ ("ENGINE_DATA", 100), ("CRZ_CTRL", 50), @@ -136,7 +136,7 @@ class CarState(CarStateBase): def get_cam_can_parser(CP): messages = [] - if CP.carFingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: messages += [ # sig_address, frequency ("CAM_LANEINFO", 2), diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 7ac93d9dee..a138318b1a 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -24,23 +24,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.CX5, CAR.CX5_2022): - ret.mass = 3655 * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.steerRatio = 15.5 - elif candidate in (CAR.CX9, CAR.CX9_2021): - ret.mass = 4217 * CV.LB_TO_KG - ret.wheelbase = 3.1 - ret.steerRatio = 17.6 - elif candidate == CAR.MAZDA3: - ret.mass = 2875 * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.steerRatio = 14.0 - elif candidate == CAR.MAZDA6: - ret.mass = 3443 * CV.LB_TO_KG - ret.wheelbase = 2.83 - ret.steerRatio = 15.5 - if candidate not in (CAR.CX5_2022, ): ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index e350c5587f..74f6af04c5 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,7 +1,7 @@ -from openpilot.selfdrive.car.mazda.values import GEN1, Buttons +from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags -def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): +def create_steering_control(packer, CP, frame, apply_steer, lkas): tmp = apply_steer + 2048 @@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): csum = csum % 256 values = {} - if car_fingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: values = { "LKAS_REQUEST": apply_steer, "CTR": ctr, @@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool) return packer.make_can_msg("CAM_LANEINFO", 0, values) -def create_button_cmd(packer, car_fingerprint, counter, button): +def create_button_cmd(packer, CP, counter, button): can = int(button == Buttons.CANCEL) res = int(button == Buttons.RESUME) - if car_fingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: values = { "CAN_OFF": can, "CAN_OFF_INV": (can + 1) % 2, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index eaf76d6a72..5597e9f52f 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -1,8 +1,9 @@ from dataclasses import dataclass, field -from enum import StrEnum +from enum import IntFlag from cereal import car -from openpilot.selfdrive.car import dbc_dict +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -25,29 +26,55 @@ class CarControllerParams: pass -class CAR(StrEnum): - CX5 = "MAZDA CX-5" - CX9 = "MAZDA CX-9" - MAZDA3 = "MAZDA 3" - MAZDA6 = "MAZDA 6" - CX9_2021 = "MAZDA CX-9 2021" - CX5_2022 = "MAZDA CX-5 2022" - - @dataclass class MazdaCarInfo(CarInfo): package: str = "All" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) -CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = { - CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"), - CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), - CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), - CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"), -} +class MazdaFlags(IntFlag): + # Static flags + # Gen 1 hardware: same CAN messages and same camera + GEN1 = 1 + + +@dataclass +class MazdaPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) + flags: int = MazdaFlags.GEN1 + + +class CAR(Platforms): + CX5 = MazdaPlatformConfig( + "MAZDA CX-5", + MazdaCarInfo("Mazda CX-5 2017-21"), + specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) + ) + CX9 = MazdaPlatformConfig( + "MAZDA CX-9", + MazdaCarInfo("Mazda CX-9 2016-20"), + specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) + ) + MAZDA3 = MazdaPlatformConfig( + "MAZDA 3", + MazdaCarInfo("Mazda 3 2017-18"), + specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) + ) + MAZDA6 = MazdaPlatformConfig( + "MAZDA 6", + MazdaCarInfo("Mazda 6 2017-20"), + specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) + ) + CX9_2021 = MazdaPlatformConfig( + "MAZDA CX-9 2021", + MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), + specs=CX9.specs + ) + CX5_2022 = MazdaPlatformConfig( + "MAZDA CX-5 2022", + MazdaCarInfo("Mazda CX-5 2022-24"), + specs=CX5.specs, + ) class LKAS_LIMITS: @@ -76,14 +103,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ) -DBC = { - CAR.CX5: dbc_dict('mazda_2017', None), - CAR.CX9: dbc_dict('mazda_2017', None), - CAR.MAZDA3: dbc_dict('mazda_2017', None), - CAR.MAZDA6: dbc_dict('mazda_2017', None), - CAR.CX9_2021: dbc_dict('mazda_2017', None), - CAR.CX5_2022: dbc_dict('mazda_2017', None), -} - -# Gen 1 hardware: same CAN messages and same camera -GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022} +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index ecf718bb3a..30e186bd09 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -10,47 +10,45 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): - platform_flags = candidate.config.flags - ret.carName = "subaru" ret.radarUnavailable = True # for HYBRID CARS to be upstreamed, we need: # - replacement for ES_Distance so we can cancel the cruise control # - to find the Cruise_Activated bit from the car # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) - ret.dashcamOnly = bool(platform_flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) + ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) ret.autoResumeSng = False # Detect infotainment message sent from the camera - if not (platform_flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]: + if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]: ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value - if platform_flags & SubaruFlags.PREGLOBAL: + if ret.flags & SubaruFlags.PREGLOBAL: ret.enableBsm = 0x25c in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)] else: ret.enableBsm = 0x228 in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] - if platform_flags & SubaruFlags.GLOBAL_GEN2: + if ret.flags & SubaruFlags.GLOBAL_GEN2: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2 ret.steerLimitTimer = 0.4 ret.steerActuatorDelay = 0.1 - if platform_flags & SubaruFlags.LKAS_ANGLE: + if ret.flags & SubaruFlags.LKAS_ANGLE: ret.steerControlType = car.CarParams.SteerControlType.angle else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.ASCENT, CAR.ASCENT_2023): - ret.steerActuatorDelay = 0.3 # end-to-end angle controller + ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] elif candidate == CAR.IMPREZA: - ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] @@ -85,12 +83,11 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - LONG_UNAVAILABLE = SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL| SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID - - ret.experimentalLongitudinalAvailable = not (platform_flags & LONG_UNAVAILABLE) + ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL | + SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable - if platform_flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: + if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index a7c9a22e2c..c2b2d16d7f 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -53,8 +53,11 @@ class CarControllerParams: class SubaruFlags(IntFlag): + # Detected flags SEND_INFOTAINMENT = 1 DISABLE_EYESIGHT = 2 + + # Static flags GLOBAL_GEN2 = 4 # Cars that temporarily fault when steering angle rate is greater than some threshold. @@ -106,6 +109,15 @@ class SubaruPlatformConfig(PlatformConfig): self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None) +@dataclass +class SubaruGen2PlatformConfig(SubaruPlatformConfig): + def init(self): + super().init() + self.flags |= SubaruFlags.GLOBAL_GEN2 + if not (self.flags & SubaruFlags.LKAS_ANGLE): + self.flags |= SubaruFlags.STEER_RATE_LIMITED + + class CAR(Platforms): # Global platform ASCENT = SubaruPlatformConfig( @@ -113,17 +125,15 @@ class CAR(Platforms): SubaruCarInfo("Subaru Ascent 2019-21", "All"), specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) - OUTBACK = SubaruPlatformConfig( + OUTBACK = SubaruGen2PlatformConfig( "SUBARU OUTBACK 6TH GEN", SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED, ) - LEGACY = SubaruPlatformConfig( + LEGACY = SubaruGen2PlatformConfig( "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=OUTBACK.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED, ) IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", @@ -199,17 +209,17 @@ class CAR(Platforms): specs=FORESTER.specs, flags=SubaruFlags.LKAS_ANGLE, ) - OUTBACK_2023 = SubaruPlatformConfig( + OUTBACK_2023 = SubaruGen2PlatformConfig( "SUBARU OUTBACK 7TH GEN", SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=OUTBACK.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE, + flags=SubaruFlags.LKAS_ANGLE, ) - ASCENT_2023 = SubaruPlatformConfig( + ASCENT_2023 = SubaruGen2PlatformConfig( "SUBARU ASCENT 2023", SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=ASCENT.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE, + flags=SubaruFlags.LKAS_ANGLE, ) @@ -255,3 +265,7 @@ FW_QUERY_CONFIG = FwQueryConfig( CAR_INFO = CAR.create_carinfo_map() DBC = CAR.create_dbc_map() + + +if __name__ == "__main__": + CAR.print_debug(SubaruFlags) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index e06139729c..537433a350 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car.tesla.values import CANBUS from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase @@ -41,14 +41,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.25 - if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): - ret.mass = 2100. - ret.wheelbase = 2.959 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 15.0 - else: - raise ValueError(f"Unsupported car: {candidate}") - return ret def _update(self, c): diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 2a51d15da8..74d2debe1f 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,8 +1,8 @@ from collections import namedtuple -from enum import StrEnum +from dataclasses import dataclass, field from cereal import car -from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -11,21 +11,23 @@ Ecu = car.CarParams.Ecu Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) -class CAR(StrEnum): - AP1_MODELS = 'TESLA AP1 MODEL S' - AP2_MODELS = 'TESLA AP2 MODEL S' +@dataclass +class TeslaPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can')) -CAR_INFO: dict[str, CarInfo | list[CarInfo]] = { - CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"), - CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), -} - +class CAR(Platforms): + AP1_MODELS = TeslaPlatformConfig( + 'TESLA AP1 MODEL S', + CarInfo("Tesla AP1 Model S", "All"), + specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0) + ) + AP2_MODELS = TeslaPlatformConfig( + 'TESLA AP2 MODEL S', + CarInfo("Tesla AP2 Model S", "All"), + specs=AP1_MODELS.specs + ) -DBC = { - CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), - CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), -} FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -88,3 +90,7 @@ class CarControllerParams: def __init__(self, CP): pass + + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 2b29c14f72..b7d20e5a83 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -17,7 +17,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH +from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list @@ -381,7 +381,7 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) - if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH): + if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) @@ -442,7 +442,7 @@ class TestCarModelBase(unittest.TestCase): # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages). - if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH: + if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH): # only the rising edges are expected to match if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: checks['controlsAllowed'] += not self.safety.get_controls_allowed() diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py new file mode 100755 index 0000000000..931780963f --- /dev/null +++ b/selfdrive/car/tests/test_platform_configs.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 + +import unittest + +from openpilot.selfdrive.car.values import PLATFORMS + + +class TestPlatformConfigs(unittest.TestCase): + def test_configs(self): + + for platform in PLATFORMS.values(): + with self.subTest(platform=str(platform)): + if hasattr(platform, "config"): + + self.assertTrue(platform.config._frozen) + self.assertIn("pt", platform.config.dbc_dict) + self.assertTrue(len(platform.config.platform_str) > 0) + + # enable when all cars have specs + #self.assertIsNotNone(platform.config.specs) + + +if __name__ == "__main__": + unittest.main() diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f99e87d5d3..1b1858703d 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags +from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -16,7 +16,7 @@ class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): self.CP = CP self.CCP = CarControllerParams(CP) - self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan + self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan self.packer_pt = CANPacker(dbc_name) self.apply_steer_last = 0 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 25c5bc04bc..48e9ed37d6 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -3,7 +3,7 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams, VolkswagenFlags @@ -31,7 +31,7 @@ class CarState(CarStateBase): return button_events def update(self, pt_cp, cam_cp, ext_cp, trans_type): - if self.CP.carFingerprint in PQ_CARS: + if self.CP.flags & VolkswagenFlags.PQ: return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type) ret = car.CarState.new_message() @@ -257,7 +257,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: return CarState.get_can_parser_pq(CP) messages = [ @@ -294,7 +294,7 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: return CarState.get_cam_can_parser_pq(CP) messages = [] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index fa68e81d0d..374b657512 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags +from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -22,11 +22,11 @@ class CarInterface(CarInterfaceBase): self.eps_timer_soft_disable_alert = False @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True - if candidate in PQ_CARS: + if ret.flags & VolkswagenFlags.PQ: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 @@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle ret.steerLimitTimer = 0.4 - if candidate in PQ_CARS: + if ret.flags & VolkswagenFlags.PQ: ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) else: diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 065a340928..86788dcf64 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -40,7 +40,7 @@ class CarControllerParams: def __init__(self, CP): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm @@ -110,8 +110,12 @@ class CANBUS: class VolkswagenFlags(IntFlag): + # Detected flags STOCK_HCA_PRESENT = 1 + # Static Flags + PQ = 2 + @dataclass class VolkswagenMQBPlatformConfig(PlatformConfig): @@ -122,6 +126,9 @@ class VolkswagenMQBPlatformConfig(PlatformConfig): class VolkswagenPQPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None)) + def init(self): + self.flags |= VolkswagenFlags.PQ + @dataclass(frozen=True, kw_only=True) class VolkswagenCarSpecs(CarSpecs): @@ -359,8 +366,6 @@ class CAR(Platforms): ) -PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} - # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars # with a manual trans won't return transmission firmware, but all other cars will. # diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 13f776fbad..015f941261 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b9d29ac9402cfc04bf3e48867415efa70c144029 +de322b3898f8fedb57036b6cf4a0605968138929 diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 2b917b0f61..88e46abb06 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -156,7 +156,8 @@ if __name__ == "__main__": assert full_test, "Need to run full test when updating refs" try: - ref_commit = open(REF_COMMIT_FN).read().strip() + with open(REF_COMMIT_FN) as f: + ref_commit = f.read().strip() except FileNotFoundError: print("Couldn't find reference commit") sys.exit(1) diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts index a27dc18bd2..59d6874035 100644 --- a/selfdrive/ui/translations/main_zh-CHS.ts +++ b/selfdrive/ui/translations/main_zh-CHS.ts @@ -68,23 +68,23 @@ Hidden Network - + 隐藏的网络 CONNECT - CONNECT + 连线 Enter SSID - 输入SSID + 输入 SSID Enter password - 输入密码 + 输入密码 for "%1" - 网络名称："%1" + 网络名称："%1" @@ -634,7 +634,7 @@ This may take up to a minute. System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - + 系统重置已触发。按下“确认”以清除所有内容和设置，按下“取消”以继续启动。 @@ -744,15 +744,15 @@ This may take up to a minute. Choose Software to Install - + 选择要安装的软件 openpilot - openpilot + openpilot Custom Software - + 定制软件 diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts index 1e7f1a614b..0079b47f7f 100644 --- a/selfdrive/ui/translations/main_zh-CHT.ts +++ b/selfdrive/ui/translations/main_zh-CHT.ts @@ -68,23 +68,23 @@ Hidden Network - + 隱藏的網路 CONNECT - 雲端服務 + 連線 Enter SSID - 輸入 SSID + 輸入 SSID Enter password - 輸入密碼 + 輸入密碼 for "%1" - 給 "%1" + 給 "%1" @@ -634,7 +634,7 @@ This may take up to a minute. System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot. - + 系統重設已啟動。按下「確認」以清除所有內容和設定，或按下「取消」以繼續開機。 @@ -744,15 +744,15 @@ This may take up to a minute. Choose Software to Install - + 選擇要安裝的軟體 openpilot - openpilot + openpilot Custom Software - + 自訂軟體 diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py new file mode 100755 index 0000000000..ea2ee51a45 --- /dev/null +++ b/selfdrive/ui/ui.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python3 +import os +import signal + +signal.signal(signal.SIGINT, signal.SIG_DFL) + +import cereal.messaging as messaging +from openpilot.system.hardware import HARDWARE + +from PyQt5.QtCore import Qt, QTimer +from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window + + +if __name__ == "__main__": + app = QApplication([]) + win = QWidget() + set_main_window(win) + + bg = QLabel("", alignment=Qt.AlignCenter) + + alert1 = QLabel() + alert2 = QLabel() + vlayout = QVBoxLayout() + vlayout.addWidget(alert1, alignment=Qt.AlignCenter) + vlayout.addWidget(alert2, alignment=Qt.AlignCenter) + + tmp = QWidget() + tmp.setLayout(vlayout) + + stack = QStackedLayout(win) + stack.addWidget(tmp) + stack.addWidget(bg) + stack.setStackingMode(QStackedLayout.StackAll) + + win.setObjectName("win") + win.setStyleSheet(""" + #win { + background-color: black; + } + QLabel { + color: white; + font-size: 40px; + } + """) + + sm = messaging.SubMaster(['deviceState', 'controlsState']) + + def update(): + sm.update(0) + + onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started + if onroad: + cs = sm['controlsState'] + color = ("grey" if str(cs.status) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue" + bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1") + bg.setStyleSheet(f"font-size: 100px; background-color: {color};") + bg.show() + + alert1.setText(cs.alertText1) + alert2.setText(cs.alertText2) + + if not sm.alive['controlsState']: + alert1.setText("waiting for controls...") + else: + bg.hide() + alert1.setText("") + alert2.setText("offroad") + + HARDWARE.set_screen_brightness(100 if onroad else 40) + os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power") + + timer = QTimer() + timer.timeout.connect(update) + timer.start(50) + + app.exec_()