openpilot v0.2 release

old-commit-hash: 449b482cc3

Dockerfile.openpilot

@@ -0,0 +1,19 @@
+FROM ubuntu:14.04
+ENV PYTHONUNBUFFERED 1
+
+RUN apt-get update && apt-get install -y build-essential screen wget bzip2 git libglib2.0-0
+
+RUN wget -nv -O /tmp/anaconda.sh https://repo.continuum.io/archive/Anaconda2-4.2.0-Linux-x86_64.sh && \
+  /bin/bash /tmp/anaconda.sh -b -p /opt/conda && \
+  rm /tmp/anaconda.sh
+
+ENV PATH /opt/conda/bin:$PATH
+
+RUN conda install numpy==1.11.2 && conda install scipy==0.18.1
+
+COPY requirements_openpilot.txt /tmp/
+RUN pip install -r /tmp/requirements_openpilot.txt
+
+ENV PYTHONPATH /tmp/openpilot:$PYTHONPATH
+
+COPY . /tmp/openpilot

README.md

@@ -42,26 +42,42 @@ Directory structure
   - assets        -- Fonts for ui
   - boardd        -- Daemon to talk to the board
   - calibrationd  -- Camera calibration server
+  - car           -- Code that talks to the car and implements CarInterface
   - common        -- Shared C/C++ code for the daemons
   - controls      -- Python controls (PID loops etc) for the car
   - logcatd       -- Android logcat as a service
   - loggerd       -- Logger and uploader of car data
+  - radar         -- Code that talks to the radar and implements RadarInterface
   - sensord       -- IMU / GPS interface code
+  - test/plant    -- Car simulator running code through virtual maneuvers
   - ui            -- The UI
   - visiond       -- embedded vision pipeline
 
 To understand how the services interact, see `common/services.py`
 
+Testing on PC
+------
+
+There is rudimentary infrastructure to run a basic simulation and generate a report of openpilot's behavior in different scenarios.
+
+```bash
+# Requires working docker
+./run_docker_tests.sh
+```
+
+The results are written to `selfdrive/test/plant/out/index.html`
+
+More extensive testing infrastructure and simulation environments are coming soon.
+
 Adding Car Support
 ------
 
 It should be relatively easy to add support for the Honda CR-V Touring. The brake message is the same. Steering has a slightly different message with a different message id. Sniff CAN while using LKAS to find it.
 
-The Honda Accord uses different signalling for the steering and probably requires new hardware.
+The Honda Accord uses different signaling for the steering and probably requires new hardware.
 
 Adding other manufacturers besides Honda/Acura is doable but will be more of an undertaking.
 
-
 User Data / chffr Account / Crash Reporting
 ------
 

RELEASES.md

@@ -0,0 +1,19 @@
+Version 0.2  (2016-12-12)
+=========================
+  * Car/Radar abstraction layers have shipped, see cereal/car.capnp
+  * controlsd has been refactored
+  * Shipped plant model and testing maneuvers
+  * visiond exits more gracefully now
+  * Hardware encoder in visiond should always init
+  * ui now turns off the screen after 30 seconds
+  * Switch to openpilot release branch for future releases
+  * Added preliminary Docker container to run tests on PC
+
+Version 0.1  (2016-11-29)
+=========================
+  * Initial release of openpilot
+  * Adaptive cruise control is working
+  * Lane keep assist is working
+  * Support for Acura ILX 2016 with AcuraWatch Plus
+  * Support for Honda Civic 2016 Touring Edition
+

TODO.md

@@ -1,14 +0,0 @@
-TODO
-======
-
-An incomplete list of known issues and desired featues.
-
-- TX and RX amounts on UI are wrong for a few frames at startup because we
-  subtract (total sent - 0). We should initialize sent bytes before displaying.
-
-- Rewrite common/dbc.py to be faster and cleaner, potentially in C++.
-
-- Add module and class level documentation where appropriate.
-
-- Fix lock file cleanup so there isn't always 1 pending upload when the vehicle
-  shuts off.

board/main.c

@@ -2,6 +2,7 @@
 //#define CAN_LOOPBACK_MODE
 //#define USE_INTERNAL_OSC
 //#define OLD_BOARD
+//#define ENABLE_CURRENT_SENSOR
 
 #define USB_VID 0xbbaa
 #define USB_PID 0xddcc
@@ -257,7 +258,11 @@ int get_health_pkt(void *dat) {
     uint8_t gas_interceptor_detected;
   } *health = dat;
   health->voltage = adc_get(ADCCHAN_VOLTAGE);
+#ifdef ENABLE_CURRENT_SENSOR
   health->current = adc_get(ADCCHAN_CURRENT);
+#else
+  health->current = 0;
+#endif
   health->started = (GPIOC->IDR & (1 << 13)) != 0;
   health->controls_allowed = controls_allowed;
   health->gas_interceptor_detected = gas_interceptor_detected;

cereal/__init__.py

@@ -4,4 +4,5 @@ capnp.remove_import_hook()
 
 CEREAL_PATH = os.path.dirname(os.path.abspath(__file__))
 log = capnp.load(os.path.join(CEREAL_PATH, "log.capnp"))
+car = capnp.load(os.path.join(CEREAL_PATH, "car.capnp"))
 

cereal/car.capnp

@@ -0,0 +1,172 @@
+using Cxx = import "c++.capnp";
+$Cxx.namespace("cereal");
+
+@0x8e2af1e708af8b8d;
+
+# ******* main car state @ 100hz *******
+# all speeds in m/s
+
+struct CarState {
+  errors @0: List(Error);
+
+  # car speed
+  vEgo @1 :Float32;       # best estimate of speed
+  wheelSpeeds @2 :WheelSpeeds;
+
+  # gas pedal, 0.0-1.0
+  gas @3 :Float32;        # this is user + computer
+  gasPressed @4 :Bool;    # this is user pedal only
+
+  # brake pedal, 0.0-1.0
+  brake @5 :Float32;      # this is user pedal only
+  brakePressed @6 :Bool;  # this is user pedal only
+
+  # steering wheel
+  steeringAngle @7 :Float32;   # deg
+  steeringTorque @8 :Float32;  # TODO: standardize units
+  steeringPressed @9 :Bool;    # if the user is using the steering wheel
+
+  # cruise state
+  cruiseState @10 :CruiseState;
+
+  # button presses
+  buttonEvents @11 :List(ButtonEvent);
+
+  # which packets this state came from
+  canMonoTimes @12: List(UInt64);
+
+  struct WheelSpeeds {
+    # optional wheel speeds
+    fl @0 :Float32;
+    fr @1 :Float32;
+    rl @2 :Float32;
+    rr @3 :Float32;
+  }
+
+  struct CruiseState {
+    enabled @0: Bool;
+    speed @1: Float32;
+  }
+
+  enum Error {
+    # TODO: copy from error list
+    commIssue @0;
+    steerUnavailable @1;
+    brakeUnavailable @2;
+    gasUnavailable @3;
+    wrongGear @4;
+    doorOpen @5;
+    seatbeltNotLatched @6;
+    espDisabled @7;
+    wrongCarMode @8;
+    steerTemporarilyUnavailable @9;
+    reverseGear @10;
+    # ...
+  }
+
+  # send on change
+  struct ButtonEvent {
+    pressed @0: Bool;
+    type @1: Type;
+
+    enum Type {
+      unknown @0;
+      leftBlinker @1;
+      rightBlinker @2;
+      accelCruise @3;
+      decelCruise @4;
+      cancel @5;
+      altButton1 @6;
+      altButton2 @7;
+      altButton3 @8;
+    }
+  }
+}
+
+# ******* radar state @ 20hz *******
+
+struct RadarState {
+  errors @0: List(Error);
+  points @1: List(RadarPoint);
+
+  # which packets this state came from
+  canMonoTimes @2: List(UInt64);
+
+  enum Error {
+    notValid @0;
+  }
+
+  # similar to LiveTracks
+  # is one timestamp valid for all? I think so
+  struct RadarPoint {
+    trackId @0: UInt64;  # no trackId reuse
+
+    # these 3 are the minimum required
+    dRel @1: Float32; # m from the front bumper of the car
+    yRel @2: Float32; # m
+    vRel @3: Float32; # m/s
+
+    # these are optional and valid if they are not NaN
+    aRel @4: Float32; # m/s^2
+    yvRel @5: Float32; # m/s
+  }
+}
+
+# ******* car controls @ 100hz *******
+
+struct CarControl {
+  # must be true for any actuator commands to work
+  enabled @0: Bool;
+
+  # range from 0.0 - 1.0
+  gas @1: Float32;
+  brake @2: Float32;
+
+  # range from -1.0 - 1.0
+  steeringTorque @3 :Float32;
+
+  cruiseControl @4: CruiseControl;
+  hudControl @5: HUDControl;
+
+  struct CruiseControl {
+    cancel @0: Bool;
+    override @1: Bool;
+    speedOverride @2: Float32;
+    accelOverride @3: Float32;
+  }
+
+  struct HUDControl {
+    speedVisible @0: Bool;
+    setSpeed @1: Float32;
+    lanesVisible @2: Bool;
+    leadVisible @3: Bool;
+    visualAlert @4: VisualAlert;
+    audibleAlert @5: AudibleAlert;
+
+    enum VisualAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      fcw @1;
+      steerRequired @2;
+      brakePressed @3;
+      wrongGear @4;
+      seatbeltUnbuckled @5;
+      speedTooHigh @6;
+    }
+
+    enum AudibleAlert {
+      # these are the choices from the Honda
+      # map as good as you can for your car
+      none @0;
+      beepSingle @1;
+      beepTriple @2;
+      beepRepeated @3;
+      chimeSingle @4;
+      chimeDouble @5;
+      chimeRepeated @6;
+      chimeContinuous @7;
+    }
+  }
+}
+

cereal/log.capnp

@@ -85,11 +85,11 @@ struct Live20Data {
   ftMonoTime @7 :UInt64;
 
   # all deprecated
-  warpMatrix @0 :List(Float32);
+  warpMatrixDEPRECATED @0 :List(Float32);
-  angleOffset @1 :Float32;
+  angleOffsetDEPRECATED @1 :Float32;
-  calStatus @2 :Int8;
+  calStatusDEPRECATED @2 :Int8;
-  calCycle @8 :Int32;
+  calCycleDEPRECATED @8 :Int32;
-  calPerc @9 :Int8;
+  calPercDEPRECATED @9 :Int8;
 
   leadOne @3 :LeadData;
   leadTwo @4 :LeadData;
@@ -138,7 +138,7 @@ struct Live100Data {
   mdMonoTime @18 :UInt64;
 
   vEgo @0 :Float32;
-  aEgo @1 :Float32;
+  aEgoDEPRECATED @1 :Float32;
   vPid @2 :Float32;
   vTargetLead @3 :Float32;
   upAccelCmd @4 :Float32;
@@ -151,7 +151,7 @@ struct Live100Data {
   aTargetMax @11 :Float32;
   jerkFactor @12 :Float32;
   angleSteers @13 :Float32;
-  hudLead @14 :Int32;
+  hudLeadDEPRECATED @14 :Int32;
   cumLagMs @15 :Float32;
 
   enabled @19: Bool;

common/api/__init__.py

@@ -3,6 +3,6 @@ import requests
 def api_get(endpoint, method='GET', timeout=None, **params):
   backend = "https://api.commadotai.com/"
 
-  params['_version'] = "OPENPILOTv0.0"
+  params['_version'] = "OPENPILOTv0.2"
 
   return requests.request(method, backend+endpoint, timeout=timeout, params=params)

common/crash.py

@@ -5,6 +5,8 @@ import sys
 if os.getenv("NOLOG"):
   def capture_exception(*exc_info):
     pass
+  def bind_user(**kwargs):
+    pass
   def install():
     pass
 else:
@@ -16,6 +18,9 @@ else:
 
   capture_exception = client.captureException
 
+  def bind_user(**kwargs):
+    client.user_context(kwargs)
+
   def install():
     # installs a sys.excepthook
     __excepthook__ = sys.excepthook

common/realtime.py

@@ -57,7 +57,7 @@ def set_realtime_priority(level):
     raise NotImplementedError
 
   tid = libc.syscall(NR_gettid)
-  subprocess.check_call(['chrt', '-f', '-p', str(level), str(tid)])
+  return subprocess.call(['chrt', '-f', '-p', str(level), str(tid)])
 
 
 class Ratekeeper(object):

common/services.py

@@ -39,14 +39,21 @@ service_list = {
 #   subscribes: health
 #   publishes:  thermal
 
+# **** processes that communicate with the outside world ****
+
 # boardd -- communicates with the car
 #   subscribes: sendcan
 #   publishes:  can, health
 
+# sensord -- publishes the IMU and GPS
+#   publishes:  sensorEvents, gpsNMEA
+
 # visiond -- talks to the cameras, runs the model, saves the videos
 #   subscribes: liveCalibration, sensorEvents
 #   publishes:  frame, encodeIdx, model, features
 
+# **** stateful data transformers ****
+
 # controlsd -- actually drives the car
 #   subscribes: can, thermal, model, live20
 #   publishes:  sendcan, live100
@@ -55,9 +62,6 @@ service_list = {
 #   subscribes: can, live100, model
 #   publishes:  live20, liveTracks
 
-# sensord -- publishes the IMU and GPS
-#   publishes:  sensorEvents, gpsNMEA
-
 # calibrationd -- places the camera box
 #   subscribes: features, live100
 #   publishes:  liveCalibration
@@ -80,3 +84,4 @@ service_list = {
 
 # logcatd -- fetches logcat info from android
 #   publishes:  androidLog
+

dbcs/ford_fusion_2017_can.dbc

@@ -1,748 +0,0 @@
-VERSION ""
-
-
-NS_ : 
-	NS_DESC_
-	CM_
-	BA_DEF_
-	BA_
-	VAL_
-	CAT_DEF_
-	CAT_
-	FILTER
-	BA_DEF_DEF_
-	EV_DATA_
-	ENVVAR_DATA_
-	SGTYPE_
-	SGTYPE_VAL_
-	BA_DEF_SGTYPE_
-	BA_SGTYPE_
-	SIG_TYPE_REF_
-	VAL_TABLE_
-	SIG_GROUP_
-	SIG_VALTYPE_
-	SIGTYPE_VALTYPE_
-	BO_TX_BU_
-	BA_DEF_REL_
-	BA_REL_
-	BA_DEF_DEF_REL_
-	BU_SG_REL_
-	BU_EV_REL_
-	BU_BO_REL_
-	SG_MUL_VAL_
-
-BS_:
-
-BU_: PDSC PDS_HMI PDS_Slave PDS_Master EPAS TPEC MAB BPEC
-VAL_TABLE_ aaaaaaaaaa 3 "EPAS" 2 "TPEC" 1 "BPEC" ;
-
-
-BO_ 127 Version: 8 BPEC
- SG_ MODULE : 0|8@1+ (1,0) [0|0] ""  MAB
- SG_ BUILD : 48|16@1+ (1,0) [0|0] ""  MAB
- SG_ MINOR : 32|16@1+ (1,0) [0|0] ""  MAB
- SG_ MAJOR : 16|16@1+ (1,0) [0|0] ""  MAB
-
-BO_ 117 ThrottleInfo_Report: 8 EPAS
- SG_ APEDRATE : 32|8@1- (0.04,0) [-5.12|5.08] "%/ms"  MAB
- SG_ APEDPC : 16|10@1+ (0.1,0) [0|99.9] "%"  MAB
- SG_ RPM : 0|16@1+ (0.25,0) [0|0] "RPM"  MAB
-
-BO_ 1085 PDS_Status2_Slave: 4 PDS_Slave
- SG_ VOLTAGE : 16|12@1+ (0.01,0) [0|0] "V"  PDS_HMI
- SG_ THERMOCOUPLE : 8|8@1- (0.5,-44) [-20|107.5] "°C"  PDS_HMI
- SG_ BOARDTEMP : 0|8@1- (0.5,-44) [-20|107.5] "°C"  PDS_HMI
-
-BO_ 1084 PDS_Status2_Master: 4 PDS_Master
- SG_ VOLTAGE : 16|12@1+ (0.01,0) [0|0] "V"  PDS_HMI
- SG_ THERMOCOUPLE : 8|8@1- (0.5,-44) [-20|107.5] "°C"  PDS_HMI
- SG_ BOARDTEMP : 0|8@1- (0.5,-44) [-20|107.5] "°C"  PDS_HMI
-
-BO_ 116 BrakeInfo_Report: 8 EPAS
- SG_ TRACE : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ TRACA : 62|1@1+ (1,0) [0|0] ""  MAB
- SG_ STABE : 61|1@1+ (1,0) [0|0] ""  MAB
- SG_ STABA : 60|1@1+ (1,0) [0|0] ""  MAB
- SG_ AOG : 48|10@1- (0.035,0) [-17.92|17.885] "m/s^2"  MAB
- SG_ ABSE : 59|1@1+ (1,0) [0|0] ""  MAB
- SG_ ABSA : 58|1@1+ (1,0) [0|0] ""  MAB
- SG_ WHLTRQ : 32|14@1- (4,0) [-32768|32764] "Nm"  MAB
- SG_ PBRAKE : 30|2@1+ (1,0) [0|0] ""  MAB
- SG_ STATNRY : 15|1@1+ (1,0) [0|0] ""  MAB
- SG_ HSASTAT : 12|3@1+ (1,0) [0|0] ""  MAB
- SG_ HSAMODE : 28|2@1+ (1,0) [0|0] ""  MAB
- SG_ BRKTRQR : 0|12@1+ (4,0) [0|16380] "Nm"  MAB
- SG_ BRKTRQA : 16|12@1+ (4,0) [0|16380] "Nm"  MAB
-
-BO_ 115 Surround_Report: 8 EPAS
- SG_ ENSNR : 62|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTSNR : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ SONAR11 : 52|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR10 : 48|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR09 : 44|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR08 : 40|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR07 : 36|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR06 : 32|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR05 : 28|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR04 : 24|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR03 : 20|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR02 : 16|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR01 : 12|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ SONAR00 : 8|4@1+ (0.15,0.15) [0.3|2.4] "m"  MAB
- SG_ BLISRE : 7|1@1+ (1,0) [0|0] ""  MAB
- SG_ BLISRA : 6|1@1+ (1,0) [0|0] ""  MAB
- SG_ BLISLE : 3|1@1+ (1,0) [0|0] ""  MAB
- SG_ BLISLA : 2|1@1+ (1,0) [0|0] ""  MAB
- SG_ CTARE : 5|1@1+ (1,0) [0|0] ""  MAB
- SG_ CTARA : 4|1@1+ (1,0) [0|0] ""  MAB
- SG_ CTALE : 1|1@1+ (1,0) [0|0] ""  MAB
- SG_ CTALA : 0|1@1+ (1,0) [0|0] ""  MAB
-
-BO_ 114 FuelLevel_Report: 2 EPAS
- SG_ FUEL : 0|16@1- (0.108696,0) [0|0] "%"  MAB
-
-BO_ 113 TirePressure_Report: 8 EPAS
- SG_ RR : 48|16@1+ (1,0) [0|0] "kPa"  MAB
- SG_ RL : 32|16@1+ (1,0) [0|0] "kPa"  MAB
- SG_ FR : 16|16@1+ (1,0) [0|0] "kPa"  MAB
- SG_ FL : 0|16@1+ (1,0) [0|0] "kPa"  MAB
-
-BO_ 112 Suspension_Report: 8 EPAS
- SG_ RR : 48|16@1- (0.3913895,0) [0|0] "mm"  MAB
- SG_ RL : 32|16@1- (0.3913895,0) [0|0] "mm"  MAB
- SG_ FR : 16|16@1- (0.3913895,0) [0|0] "mm"  MAB
- SG_ FL : 0|16@1- (0.3913895,0) [0|0] "mm"  MAB
-
-BO_ 111 GPS_3_Report: 8 EPAS
- SG_ NUMSAT : 59|5@1+ (1,0) [0|0] ""  MAB
- SG_ QUALITY : 56|3@1+ (1,0) [0|0] ""  MAB
- SG_ VDOP : 48|5@1+ (0.2,0) [0|0] ""  MAB
- SG_ HDOP : 40|5@1+ (0.2,0) [0|0] ""  MAB
- SG_ SPEED : 32|8@1+ (1,0) [0|0] "mph"  MAB
- SG_ HEADING : 16|16@1+ (0.01,0) [0|0] "degrees"  MAB
- SG_ ALTITUDE : 0|16@1- (0.25,0) [0|0] "m"  MAB
-
-BO_ 110 GPS_2_Report: 8 EPAS
- SG_ INF : 62|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTGPS : 61|1@1+ (1,0) [0|0] ""  MAB
- SG_ PDOP : 56|5@1+ (0.2,0) [0|0] ""  MAB
- SG_ COMPASS : 48|4@1+ (45,0) [0|315] "degrees"  MAB
- SG_ SECONDS : 40|6@1+ (1,0) [0|59] "seconds"  MAB
- SG_ MINUTES : 32|6@1+ (1,0) [0|59] "minutes"  MAB
- SG_ HOURS : 24|5@1+ (1,0) [0|23] "hours"  MAB
- SG_ DAY : 16|5@1+ (1,0) [1|31] "days"  MAB
- SG_ MONTH : 8|4@1+ (1,0) [1|12] "months"  MAB
- SG_ YEAR : 0|7@1+ (1,0) [0|99] "years"  MAB
-
-BO_ 109 GPS_1_Report: 8 EPAS
- SG_ VALID : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ LONGITUDE : 32|31@1- (3.3333333E-007,0) [0|0] "degrees"  MAB
- SG_ LATITUDE : 0|31@1- (3.3333333E-007,0) [0|0] "degrees"  MAB
-
-BO_ 1069 PDS_Current3Slave: 8 PDS_Slave
- SG_ CURRENT24 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT23 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT22 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT21 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1065 PDS_Current2Slave: 8 PDS_Slave
- SG_ CURRENT20 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT19 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT18 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT17 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1061 PDS_Current1Slave: 8 PDS_Slave
- SG_ CURRENT16 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT15 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT14 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT13 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1068 PDS_Current3Master: 8 PDS_Master
- SG_ CURRENT9 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT12 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT11 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT10 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1064 PDS_Current2Master: 8 PDS_Master
- SG_ CURRENT8 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT7 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT6 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT5 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1060 PDS_Current1Master: 8 PDS_Master
- SG_ CURRENT4 : 48|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT3 : 32|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT2 : 16|16@1- (0.001,0) [0|0] "A"  PDS_HMI
- SG_ CURRENT1 : 0|16@1- (0.001,0) [0|0] "A"  PDS_HMI
-
-BO_ 1057 PDS_StatusSlave: 8 PDS_Slave
- SG_ STATUS_INV2 : 4|4@1+ (1,0) [0|0] "" Vector__XXX
- SG_ STATUS24 : 60|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS23 : 56|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS22 : 52|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS21 : 48|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS20 : 44|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS19 : 40|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS18 : 36|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS17 : 32|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS16 : 28|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS15 : 24|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS14 : 20|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS13 : 16|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ SCRIPT : 12|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ MODE : 8|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
-
-BO_ 1056 PDS_StatusMaster: 8 PDS_Master
- SG_ STATUS_INV1 : 4|4@1+ (1,0) [0|0] "" Vector__XXX
- SG_ STATUS9 : 48|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS8 : 44|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS7 : 40|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS6 : 36|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS5 : 32|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS4 : 28|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS3 : 24|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS2 : 20|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS12 : 60|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS11 : 56|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS10 : 52|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ STATUS1 : 16|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ SCRIPT : 12|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
- SG_ MODE : 8|4@1+ (1,0) [0|0] ""  PDSC,PDS_HMI
-
-BO_ 1072 PDS_Reserved2: 6 PDS_Master
- SG_ RESERVED2 : 7|48@0+ (1,0) [0|0] ""  PDSC
-
-BO_ 1074 PDS_Reserved4: 4 PDS_Master
- SG_ RESERVED4 : 7|32@0+ (1,0) [0|0] ""  PDS_HMI
-
-BO_ 1073 PDS_Reserved3: 8 PDS_Master
- SG_ RESERVED3 : 7|64@0+ (1,0) [0|0] ""  PDS_HMI
-
-BO_ 1043 PDS_Reserved1: 1 PDS_HMI
- SG_ RESERVED1 : 7|8@0+ (1,0) [0|0] ""  PDS_Slave,PDS_Master
-
-BO_ 1042 PDS_ScriptRequest: 1 PDSC
- SG_ SCRIPT : 0|8@1+ (1,0) [0|0] ""  PDS_Slave,PDS_Master
-
-BO_ 1041 PDS_ModeRequest: 1 PDSC
- SG_ MODE : 0|8@1+ (1,0) [0|0] ""  PDS_Slave,PDS_Master
-
-BO_ 1040 PDS_RelayRequest: 2 PDSC
- SG_ REQUEST : 8|8@1+ (1,0) [0|0] ""  PDS_Slave,PDS_Master
- SG_ CHANNEL : 0|8@1+ (1,0) [0|23] ""  PDS_Slave,PDS_Master
-
-BO_ 108 Gyro_Report: 4 EPAS
- SG_ YAW : 16|16@1- (0.0002,0) [0|0] "rad/s"  MAB
- SG_ ROLL : 0|16@1- (0.0002,0) [0|0] "rad/s"  MAB
-
-BO_ 107 Accel_Report: 6 EPAS
- SG_ VERT : 32|16@1- (0.01,0) [0|0] "m/s^2"  MAB
- SG_ LONG : 16|16@1- (0.01,0) [0|0] "m/s^2"  MAB
- SG_ LAT : 0|16@1- (0.01,0) [0|0] "m/s^2"  MAB
-
-BO_ 106 WheelSpeed_Report: 8 EPAS
- SG_ RR : 48|16@1- (0.01,0) [0|0] "rad/s"  MAB
- SG_ RL : 32|16@1- (0.01,0) [0|0] "rad/s"  MAB
- SG_ FR : 16|16@1- (0.01,0) [0|0] "rad/s"  MAB
- SG_ FL : 0|16@1- (0.01,0) [0|0] "rad/s"  MAB
-
-BO_ 105 Misc_Report: 5 EPAS
- SG_ CNCL : 14|1@1+ (1,0) [0|0] ""  MAB
- SG_ RES : 13|1@1+ (1,0) [0|0] ""  MAB
- SG_ ON : 11|1@1+ (1,0) [0|0] ""  MAB
- SG_ OFF : 12|1@1+ (1,0) [0|0] ""  MAB
- SG_ BELTP : 33|1@1+ (1,0) [0|0] ""  MAB
- SG_ BELTD : 32|1@1+ (1,0) [0|0] ""  MAB
- SG_ PABAG : 31|1@1+ (1,0) [0|0] ""  MAB
- SG_ PDECT : 30|1@1+ (1,0) [0|0] ""  MAB
- SG_ TRUNK : 29|1@1+ (1,0) [0|0] ""  MAB
- SG_ HOOD : 28|1@1+ (1,0) [0|0] ""  MAB
- SG_ DOORR : 27|1@1+ (1,0) [0|0] ""  MAB
- SG_ DOORP : 25|1@1+ (1,0) [0|0] ""  MAB
- SG_ DOORL : 26|1@1+ (1,0) [0|0] ""  MAB
- SG_ DOORD : 24|1@1+ (1,0) [0|0] ""  MAB
- SG_ WIPER : 4|4@1+ (1,0) [0|0] ""  MAB
- SG_ TRNSTAT : 0|2@1+ (1,0) [0|0] ""  MAB
- SG_ SINC : 18|1@1+ (1,0) [0|0] ""  MAB
- SG_ SDEC : 19|1@1+ (1,0) [0|0] ""  MAB
- SG_ ONOFF : 16|1@1+ (1,0) [0|0] ""  MAB
- SG_ LKAEN : 22|1@1+ (1,0) [0|0] ""  MAB
- SG_ HIBEAM : 2|2@1+ (1,0) [0|0] ""  MAB
- SG_ GINC : 20|1@1+ (1,0) [0|0] ""  MAB
- SG_ GDEC : 21|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTBUS : 23|1@1+ (1,0) [0|0] ""  MAB
- SG_ RESCNCL : 17|1@1+ (1,0) [0|0] ""  MAB
- SG_ AMBIENT : 8|3@1+ (1,0) [0|0] ""  MAB
-
-BO_ 104 TurnSignal_Command: 1 MAB
- SG_ TRNCMD : 0|2@1+ (1,0) [0|0] ""  EPAS
-
-BO_ 103 Gear_Report: 1 EPAS
- SG_ STATE : 0|3@1+ (1,0) [0|0] ""  MAB
- SG_ FLTBUS : 7|1@1+ (1,0) [0|0] ""  MAB
- SG_ DRIVER : 3|1@1+ (1,0) [0|0] ""  MAB
- SG_ CMD : 4|3@1+ (1,0) [0|0] ""  MAB
-
-BO_ 102 Gear_Command: 1 MAB
- SG_ GCMD : 0|3@1+ (1,0) [0|0] ""  EPAS
- SG_ CLEAR : 7|1@1+ (1,0) [0|0] ""  EPAS
-
-BO_ 101 Steering_Report: 8 EPAS
- SG_ DRIVER : 58|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTWDC : 59|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTCAL : 62|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTCON : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ TORQUE : 48|8@1- (0.0625,0) [0|0] "Nm"  MAB
- SG_ SPEED : 32|16@1+ (0.01,0) [0|0] "kph"  MAB
- SG_ FLT2 : 61|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLT1 : 60|1@1+ (1,0) [0|0] ""  MAB
- SG_ EN : 56|1@1+ (1,0) [0|0] ""  MAB
- SG_ OVERRIDE : 57|1@1+ (1,0) [0|0] ""  MAB
- SG_ CMD : 16|16@1- (0.1,0) [-470|470] "degrees"  MAB
- SG_ ANGLE : 0|16@1- (0.1,0) [-470|470] "degrees"  MAB
-
-BO_ 100 Steering_Command: 8 MAB
- SG_ QUIET : 20|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ COUNT : 56|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ IGNORE : 18|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ SVEL : 24|8@1+ (2,0) [0|500] "degrees/s" Vector__XXX
- SG_ CLEAR : 17|1@1+ (1,0) [0|0] ""  EPAS
- SG_ EN : 16|1@1+ (1,0) [0|0] ""  EPAS
- SG_ SCMD : 0|16@1- (0.1,0) [-470|470] "degrees"  EPAS
-
-BO_ 99 Throttle_Report: 8 TPEC
- SG_ WDCSRC : 52|4@1+ (1,0) [0|0] ""  MAB
- SG_ DRIVER : 58|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTWDC : 59|1@1+ (1,0) [0|0] ""  MAB
- SG_ PO : 32|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ PI : 0|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ PC : 16|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ FLTCON : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLT2 : 61|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLT1 : 60|1@1+ (1,0) [0|0] ""  MAB
- SG_ EN : 56|1@1+ (1,0) [0|0] ""  MAB
- SG_ OVERRIDE : 57|1@1+ (1,0) [0|0] ""  MAB
-
-BO_ 98 Throttle_Command: 8 MAB
- SG_ COUNT : 56|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ IGNORE : 26|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ CLEAR : 25|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ PCMD : 0|16@1+ (1.52590218966964E-005,0) [0|1] "%"  TPEC
- SG_ EN : 24|1@1+ (1,0) [0|0] ""  TPEC
-
-BO_ 97 Brake_Report: 8 BPEC
- SG_ WDCSRC : 52|4@1+ (1,0) [0|0] ""  MAB
- SG_ WDCBRK : 51|1@1+ (1,0) [0|0] ""  MAB
- SG_ DRIVER : 58|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTWDC : 59|1@1+ (1,0) [0|0] ""  MAB
- SG_ PO : 32|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ PI : 0|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ PC : 16|16@1+ (1.52590218966964E-005,0) [0|1] "%"  MAB
- SG_ FLTCON : 63|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLTBOO : 62|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLT2 : 61|1@1+ (1,0) [0|0] ""  MAB
- SG_ FLT1 : 60|1@1+ (1,0) [0|0] ""  MAB
- SG_ EN : 56|1@1+ (1,0) [0|0] ""  MAB
- SG_ OVERRIDE : 57|1@1+ (1,0) [0|0] ""  MAB
- SG_ BO : 48|1@1+ (1,0) [0|0] ""  MAB
- SG_ BI : 50|1@1+ (1,0) [0|0] ""  MAB
- SG_ BC : 49|1@1+ (1,0) [0|0] ""  MAB
-
-BO_ 96 Brake_Command: 8 MAB
- SG_ COUNT : 56|8@1+ (1,0) [0|255] "" Vector__XXX
- SG_ IGNORE : 26|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ CLEAR : 25|1@1+ (1,0) [0|0] "" Vector__XXX
- SG_ PCMD : 0|16@1+ (1.52590218966964E-005,0) [0|1] "%"  BPEC
- SG_ EN : 24|1@1+ (1,0) [0|0] ""  BPEC
- SG_ BCMD : 16|1@1+ (1,0) [0|0] ""  BPEC
-
-BO_TX_BU_ 127 : EPAS,TPEC,BPEC;
-BO_TX_BU_ 1073 : PDS_Slave,PDS_Master;
-BO_TX_BU_ 1042 : PDS_HMI,PDSC;
-BO_TX_BU_ 1041 : PDS_HMI,PDSC;
-BO_TX_BU_ 1040 : PDS_HMI,PDSC;
-
-
-CM_ BU_ PDSC "Power Distribution System Controller (Switch Panel)";
-CM_ BU_ PDS_HMI "Power Distribution System HMI (Touchscreen)";
-CM_ BU_ PDS_Slave "Power Distribution System (Slave)";
-CM_ BU_ PDS_Master "Power Distribution System (Master)";
-CM_ BU_ EPAS "Electric Power-Assisted Steering (Steering, Shifting, and misc CAN messages)";
-CM_ BU_ TPEC "Throttle Pedal Emulator Combo";
-CM_ BU_ MAB "MicroAutoBox";
-CM_ BU_ BPEC "Brake Pedal Emulator Combo";
-CM_ SG_ 127 BUILD "Firmware version build";
-CM_ SG_ 127 MINOR "Firmware version minor";
-CM_ SG_ 127 MAJOR "Firmware version major";
-CM_ SG_ 117 APEDRATE "Accelerator Pedal Rate";
-CM_ SG_ 117 APEDPC "Accelerator Pedal Percent";
-CM_ SG_ 117 RPM "Engine RPM";
-CM_ SG_ 1085 VOLTAGE "Input Voltage";
-CM_ SG_ 1085 THERMOCOUPLE "External Thermocouple";
-CM_ SG_ 1085 BOARDTEMP "Internal Board Temperature";
-CM_ SG_ 1084 VOLTAGE "Input Voltage";
-CM_ SG_ 1084 THERMOCOUPLE "External Thermocouple";
-CM_ SG_ 1084 BOARDTEMP "Internal Board Temperature";
-CM_ SG_ 116 TRACE "Traction Control Enabled";
-CM_ SG_ 116 TRACA "Traction Control Active";
-CM_ SG_ 116 STABE "Stability Control Enabled";
-CM_ SG_ 116 STABA "Stability Control Active";
-CM_ SG_ 116 AOG "Acceleration Over Ground Estimated";
-CM_ SG_ 116 ABSE "ABS Enabled";
-CM_ SG_ 116 ABSA "ABS Active";
-CM_ SG_ 116 WHLTRQ "Wheel Torque";
-CM_ SG_ 116 PBRAKE "Parking Brake Status";
-CM_ SG_ 116 STATNRY "Vehicle Stationary";
-CM_ SG_ 116 HSASTAT "Hill Start Assist Status";
-CM_ SG_ 116 HSAMODE "Hill Start Assist Mode";
-CM_ SG_ 116 BRKTRQR "Braking Torque Request";
-CM_ SG_ 116 BRKTRQA "Braking Torque Actual";
-CM_ SG_ 115 ENSNR "Sonar Enabled";
-CM_ SG_ 115 FLTSNR "Fault Sonar Sensors";
-CM_ SG_ 115 SONAR11 "Sonar Rear Right Side";
-CM_ SG_ 115 SONAR10 "Sonar Rear Right Corner";
-CM_ SG_ 115 SONAR09 "Sonar Rear Right Center";
-CM_ SG_ 115 SONAR08 "Sonar Rear Left Center";
-CM_ SG_ 115 SONAR07 "Sonar Rear Left Corner";
-CM_ SG_ 115 SONAR06 "Sonar Rear Left Side";
-CM_ SG_ 115 SONAR05 "Sonar Front Right Side";
-CM_ SG_ 115 SONAR04 "Sonar Front Right Corner";
-CM_ SG_ 115 SONAR03 "Sonar Front Right Center";
-CM_ SG_ 115 SONAR02 "Sonar Front Left Center";
-CM_ SG_ 115 SONAR01 "Sonar Front Left Corner";
-CM_ SG_ 115 SONAR00 "Sonar Front Left Side";
-CM_ SG_ 115 BLISRE "Blind Spot Information System Right Enabled";
-CM_ SG_ 115 BLISRA "Blind Spot Information System Right Alert";
-CM_ SG_ 115 BLISLE "Blind Spot Information System Left Enabled";
-CM_ SG_ 115 BLISLA "Blind Spot Information System Left Alert";
-CM_ SG_ 115 CTARE "Cross Traffic Alert Right Enabled";
-CM_ SG_ 115 CTARA "Cross Traffic Alert Right Alert";
-CM_ SG_ 115 CTALE "Cross Traffic Alert Left Enabled";
-CM_ SG_ 115 CTALA "Cross Traffic Alert Left Alert";
-CM_ SG_ 114 FUEL "Fuel Tank Level";
-CM_ SG_ 113 RR "Tire Pressure Rear Right";
-CM_ SG_ 113 RL "Tire Pressure Rear Left";
-CM_ SG_ 113 FR "Tire Pressure Front Right";
-CM_ SG_ 113 FL "Tire Pressure Front Left";
-CM_ SG_ 112 RR "UNKNOWN";
-CM_ SG_ 112 RL "UNKNOWN";
-CM_ SG_ 112 FR "UNKNOWN";
-CM_ SG_ 112 FL "UNKNOWN";
-CM_ SG_ 111 NUMSAT "GPS Number Of satellites";
-CM_ SG_ 111 QUALITY "GPS Fix Quality";
-CM_ SG_ 111 VDOP "GPS Vertical Dilution Of Precision";
-CM_ SG_ 111 HDOP "GPS Horizontal Dilution Of Precision";
-CM_ SG_ 111 SPEED "GPS Vehicle Speed";
-CM_ SG_ 111 HEADING "GPS Heading";
-CM_ SG_ 111 ALTITUDE "GPS Altitude";
-CM_ SG_ 110 INF "GPS Position Inferred";
-CM_ SG_ 110 FLTGPS "Fault GPS";
-CM_ SG_ 110 PDOP "GPS Position Dilution Of Precision";
-CM_ SG_ 110 COMPASS "Compass Heading";
-CM_ SG_ 110 SECONDS "GPS UTC Seconds";
-CM_ SG_ 110 MINUTES "GPS UTC Minutes";
-CM_ SG_ 110 HOURS "GPS UTC Hours";
-CM_ SG_ 110 DAY "GPS UTC Day";
-CM_ SG_ 110 MONTH "GPS UTC Month";
-CM_ SG_ 110 YEAR "GPS UTC Year";
-CM_ SG_ 109 VALID "GPS Valid";
-CM_ SG_ 109 LONGITUDE "GPS Longitude";
-CM_ SG_ 109 LATITUDE "GPS Latitude";
-CM_ SG_ 1069 CURRENT24 "PDS Channel 24 Current";
-CM_ SG_ 1069 CURRENT23 "PDS Channel 23 Current";
-CM_ SG_ 1069 CURRENT22 "PDS Channel 22 Current";
-CM_ SG_ 1069 CURRENT21 "PDS Channel 21 Current";
-CM_ SG_ 1065 CURRENT20 "PDS Channel 20 Current";
-CM_ SG_ 1065 CURRENT19 "PDS Channel 19 Current";
-CM_ SG_ 1065 CURRENT18 "PDS Channel 18 Current";
-CM_ SG_ 1065 CURRENT17 "PDS Channel 17 Current";
-CM_ SG_ 1061 CURRENT16 "PDS Channel 16 Current";
-CM_ SG_ 1061 CURRENT15 "PDS Channel 15 Current";
-CM_ SG_ 1061 CURRENT14 "PDS Channel 14 Current";
-CM_ SG_ 1061 CURRENT13 "PDS Channel 13 Current";
-CM_ SG_ 1068 CURRENT9 "PDS Channel 9 Current";
-CM_ SG_ 1068 CURRENT12 "PDS Channel 12 Current";
-CM_ SG_ 1068 CURRENT11 "PDS Channel 11 Current";
-CM_ SG_ 1068 CURRENT10 "PDS Channel 10 Current";
-CM_ SG_ 1064 CURRENT8 "PDS Channel 8 Current";
-CM_ SG_ 1064 CURRENT7 "PDS Channel 7 Current";
-CM_ SG_ 1064 CURRENT6 "PDS Channel 6 Current";
-CM_ SG_ 1064 CURRENT5 "PDS Channel 5 Current";
-CM_ SG_ 1060 CURRENT4 "PDS Channel 4 Current";
-CM_ SG_ 1060 CURRENT3 "PDS Channel 3 Current";
-CM_ SG_ 1060 CURRENT2 "PDS Channel 2 Current";
-CM_ SG_ 1060 CURRENT1 "PDS Channel 1 Current";
-CM_ SG_ 1057 STATUS_INV2 "PDS Channel Inverter Slave Status";
-CM_ SG_ 1057 STATUS24 "PDS Channel 24 Status";
-CM_ SG_ 1057 STATUS23 "PDS Channel 23 Status";
-CM_ SG_ 1057 STATUS22 "PDS Channel 22 Status";
-CM_ SG_ 1057 STATUS21 "PDS Channel 21 Status";
-CM_ SG_ 1057 STATUS20 "PDS Channel 20 Status";
-CM_ SG_ 1057 STATUS19 "PDS Channel 19 Status";
-CM_ SG_ 1057 STATUS18 "PDS Channel 18 Status";
-CM_ SG_ 1057 STATUS17 "PDS Channel 17 Status";
-CM_ SG_ 1057 STATUS16 "PDS Channel 16 Status";
-CM_ SG_ 1057 STATUS15 "PDS Channel 15 Status";
-CM_ SG_ 1057 STATUS14 "PDS Channel 14 Status";
-CM_ SG_ 1057 STATUS13 "PDS Channel 13 Status";
-CM_ SG_ 1057 SCRIPT "PDS Script Slave";
-CM_ SG_ 1057 MODE "PDS Mode Slave";
-CM_ SG_ 1056 STATUS_INV1 "PDS Channel Inverter Master Status";
-CM_ SG_ 1056 STATUS9 "PDS Channel 9 Status";
-CM_ SG_ 1056 STATUS8 "PDS Channel 8 Status";
-CM_ SG_ 1056 STATUS7 "PDS Channel 7 Status";
-CM_ SG_ 1056 STATUS6 "PDS Channel 6 Status";
-CM_ SG_ 1056 STATUS5 "PDS Channel 5 Status";
-CM_ SG_ 1056 STATUS4 "PDS Channel 4 Status";
-CM_ SG_ 1056 STATUS3 "PDS Channel 3 Status";
-CM_ SG_ 1056 STATUS2 "PDS Channel 2 Status";
-CM_ SG_ 1056 STATUS12 "PDS Channel 12 Status";
-CM_ SG_ 1056 STATUS11 "PDS Channel 11 Status";
-CM_ SG_ 1056 STATUS10 "PDS Channel 10 Status";
-CM_ SG_ 1056 STATUS1 "PDS Channel 1 Status";
-CM_ SG_ 1056 SCRIPT "PDS Script Master";
-CM_ SG_ 1056 MODE "PDS Mode Master";
-CM_ SG_ 1042 SCRIPT "PDS Script Request";
-CM_ SG_ 1041 MODE "PDS Mode Request";
-CM_ SG_ 1040 REQUEST "PDS Relay Request";
-CM_ SG_ 1040 CHANNEL "PDS Relay Request Channel";
-CM_ SG_ 108 YAW "Yaw Rate";
-CM_ SG_ 108 ROLL "Roll Rate";
-CM_ SG_ 107 VERT "Vertical Acceleration";
-CM_ SG_ 107 LONG "Longitudinal Acceleration";
-CM_ SG_ 107 LAT "Lateral Acceleration";
-CM_ SG_ 106 RR "Wheel Speed Rear Right";
-CM_ SG_ 106 RL "Wheel Speed Rear Left";
-CM_ SG_ 106 FR "Wheel Speed Front Right";
-CM_ SG_ 106 FL "Wheel Speed Front Left";
-CM_ SG_ 105 CNCL "Button Cruise Control CANCEL";
-CM_ SG_ 105 RES "Button Cruise Control RESUME";
-CM_ SG_ 105 ON "Button Cruise Control ON";
-CM_ SG_ 105 OFF "Button Cruise Control OFF";
-CM_ SG_ 105 BELTP "Passenger Seat Belt Buckle";
-CM_ SG_ 105 BELTD "Driver Seat Belt Buckle";
-CM_ SG_ 105 PABAG "Passenger Airbag";
-CM_ SG_ 105 PDECT "Passenger Detect";
-CM_ SG_ 105 TRUNK "Trunk Open";
-CM_ SG_ 105 HOOD "Hood Open";
-CM_ SG_ 105 DOORR "Rear Right Door";
-CM_ SG_ 105 DOORP "Passenger Door";
-CM_ SG_ 105 DOORL "Rear Left Door";
-CM_ SG_ 105 DOORD "Driver Door";
-CM_ SG_ 105 WIPER "Windshield Wiper Status";
-CM_ SG_ 105 TRNSTAT "Turn Signal Status";
-CM_ SG_ 105 SINC "Button ACC SET+";
-CM_ SG_ 105 SDEC "Button ACC SET-";
-CM_ SG_ 105 ONOFF "Button ACC On/Off Toggle";
-CM_ SG_ 105 LKAEN "Button LKA On/Off Toggle";
-CM_ SG_ 105 HIBEAM "High Beam Headlights";
-CM_ SG_ 105 GINC "Button ACC GAP+";
-CM_ SG_ 105 GDEC "Button ACC GAP-";
-CM_ SG_ 105 FLTBUS "Fault CAN Bus (misc)";
-CM_ SG_ 105 RESCNCL "Button ACC Resume/Cancel";
-CM_ SG_ 105 AMBIENT "Ambient Light Level";
-CM_ SG_ 104 TRNCMD "Turn Signal Command";
-CM_ SG_ 103 STATE "Gear State";
-CM_ SG_ 103 FLTBUS "Fault CAN Bus (gear)";
-CM_ SG_ 103 DRIVER "Driver Override (gear)";
-CM_ SG_ 103 CMD "Gear Command (reported)";
-CM_ SG_ 102 GCMD "Gear Command";
-CM_ SG_ 102 CLEAR "Clear Override (gear)";
-CM_ SG_ 101 DRIVER "Driver Activity (steering)";
-CM_ SG_ 101 FLTWDC "Fault Watchdog Counter (steering)";
-CM_ SG_ 101 FLTCAL "Fault Steering Calibration";
-CM_ SG_ 101 FLTCON "Fault Connector (steering)";
-CM_ SG_ 101 TORQUE "Steering Column Torque";
-CM_ SG_ 101 SPEED "Vehicle Speed";
-CM_ SG_ 101 FLT2 "Fault CAN Bus 2 (steering)";
-CM_ SG_ 101 FLT1 "Fault CAN Bus 1 (steering)";
-CM_ SG_ 101 EN "Steering Enabled";
-CM_ SG_ 101 OVERRIDE "Driver Override (steering)";
-CM_ SG_ 101 CMD "Steering Command (reported)";
-CM_ SG_ 101 ANGLE "Steering Wheel Angle";
-CM_ SG_ 100 QUIET "Disable the driver override audible warning";
-CM_ SG_ 100 COUNT "Optional Watchdog Counter (steering)";
-CM_ SG_ 100 IGNORE "Ignore override (steering)";
-CM_ SG_ 100 SVEL "Steering Command Rate Limit";
-CM_ SG_ 100 CLEAR "Clear Override (steering)";
-CM_ SG_ 100 EN "Steering Enable";
-CM_ SG_ 100 SCMD "Steering Command";
-CM_ SG_ 99 WDCSRC "Watchdog Counter Source (throttle)";
-CM_ SG_ 99 DRIVER "Driver Activity (throttle)";
-CM_ SG_ 99 FLTWDC "Fault Watchdog Counter (throttle)";
-CM_ SG_ 99 PO "Throttle Pedal Output";
-CM_ SG_ 99 PI "Throttle Pedal Input";
-CM_ SG_ 99 PC "Throttle Pedal Command (reported)";
-CM_ SG_ 99 FLTCON "Fault Connector (throttle)";
-CM_ SG_ 99 FLT2 "Fault CH2 (throttle)";
-CM_ SG_ 99 FLT1 "Fault CH1 (throttle)";
-CM_ SG_ 99 EN "Throttle Enabled";
-CM_ SG_ 99 OVERRIDE "Driver Override (throttle)";
-CM_ SG_ 98 COUNT "Optional Watchdog Counter (throttle)";
-CM_ SG_ 98 IGNORE "Ignore pedal override (throttle)";
-CM_ SG_ 98 CLEAR "Clear Override (throttle)";
-CM_ SG_ 98 PCMD "Throttle Pedal Command";
-CM_ SG_ 98 EN "Throttle Enable";
-CM_ SG_ 97 WDCSRC "Watchdog Counter Source (brakes)";
-CM_ SG_ 97 WDCBRK "Watchdog Counter braking status";
-CM_ SG_ 97 DRIVER "Driver Activity (brakes)";
-CM_ SG_ 97 FLTWDC "Fault Watchdog Counter (brakes)";
-CM_ SG_ 97 PO "Brake Pedal Output";
-CM_ SG_ 97 PI "Brake Pedal Input";
-CM_ SG_ 97 PC "Brake Pedal Command (reported)";
-CM_ SG_ 97 FLTCON "Fault Connector (brakes)";
-CM_ SG_ 97 FLTBOO "Fault BOO";
-CM_ SG_ 97 FLT2 "Fault CH2 (brakes)";
-CM_ SG_ 97 FLT1 "Fault CH1 (brakes)";
-CM_ SG_ 97 EN "Brakes Enabled";
-CM_ SG_ 97 OVERRIDE "Driver Override (brakes)";
-CM_ SG_ 97 BO "BOO Output";
-CM_ SG_ 97 BI "BOO Input";
-CM_ SG_ 97 BC "BOO Command";
-CM_ SG_ 96 COUNT "Optional Watchdog Counter (brakes)";
-CM_ SG_ 96 IGNORE "Ignore pedal override (brakes)";
-CM_ SG_ 96 CLEAR "Clear Override (brakes)";
-CM_ SG_ 96 PCMD "Brake Pedal Command";
-CM_ SG_ 96 EN "Brakes Enable";
-CM_ SG_ 96 BCMD "BOO Command";
-BA_DEF_  "NetworkSpeed" ENUM  "500kBits/s";
-BA_DEF_  "BusType" STRING ;
-BA_DEF_DEF_  "NetworkSpeed" "500kBits/s";
-BA_DEF_DEF_  "BusType" "CAN";
-VAL_ 127 MODULE 3 "EPAS (steering/shifter)" 2 "TPEC (throttle)" 1 "BPEC (brake)" ;
-VAL_ 116 TRACE 1 "Enabled" 0 "Disabled" ;
-VAL_ 116 TRACA 1 "Active" 0 "Inactive" ;
-VAL_ 116 STABE 1 "Enabled" 0 "Disabled" ;
-VAL_ 116 STABA 1 "Active" 0 "Inactive" ;
-VAL_ 116 ABSE 1 "Enabled" 0 "Disabled" ;
-VAL_ 116 ABSA 1 "Active" 0 "Inactive" ;
-VAL_ 116 PBRAKE 3 "Fault" 2 "On" 1 "Transition" 0 "Off" ;
-VAL_ 116 STATNRY 1 "Stationary" 0 "Moving" ;
-VAL_ 116 HSASTAT 7 "Undefined" 6 "Failed" 5 "Slow Release" 4 "Fast Release" 3 "Active Released" 2 "Active Pressed" 1 "Finding Gradient" 0 "Inactive" ;
-VAL_ 116 HSAMODE 3 "Undefined" 2 "Manual" 1 "Auto" 0 "Off" ;
-VAL_ 115 ENSNR 1 "Enabled" 0 "Disabled" ;
-VAL_ 115 FLTSNR 1 "Fault" 0 "No Fault" ;
-VAL_ 115 SONAR11 0 "No Detection" ;
-VAL_ 115 SONAR10 0 "No Detection" ;
-VAL_ 115 SONAR09 0 "No Detection" ;
-VAL_ 115 SONAR08 0 "No Detection" ;
-VAL_ 115 SONAR07 0 "No Detection" ;
-VAL_ 115 SONAR06 0 "No Detection" ;
-VAL_ 115 SONAR05 0 "No Detection" ;
-VAL_ 115 SONAR04 0 "No Detection" ;
-VAL_ 115 SONAR03 0 "No Detection" ;
-VAL_ 115 SONAR02 0 "No Detection" ;
-VAL_ 115 SONAR01 0 "No Detection" ;
-VAL_ 115 SONAR00 0 "No Detection" ;
-VAL_ 115 BLISRE 1 "Enabled" 0 "Disabled" ;
-VAL_ 115 BLISRA 1 "Alert" 0 "No Alert" ;
-VAL_ 115 BLISLE 1 "Enabled" 0 "Disabled" ;
-VAL_ 115 BLISLA 1 "Alert" 0 "No Alert" ;
-VAL_ 115 CTARE 1 "Enabled" 0 "Disabled" ;
-VAL_ 115 CTARA 1 "Alert" 0 "No Alert" ;
-VAL_ 115 CTALE 1 "Enabled" 0 "Disabled" ;
-VAL_ 115 CTALA 1 "Alert" 0 "No Alert" ;
-VAL_ 111 QUALITY 2 "3D Fix" 1 "2D Fix" 0 "No Fix" ;
-VAL_ 110 INF 1 "Inferred Position" 0 "Actual Position" ;
-VAL_ 110 FLTGPS 1 "Fault" 0 "No Fault" ;
-VAL_ 109 VALID 1 "Valid" 0 "Invalid" ;
-VAL_ 1057 STATUS_INV2 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS24 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS23 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS22 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS21 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS20 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS19 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS18 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS17 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS16 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS15 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS14 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 STATUS13 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1057 SCRIPT 4 "Valet Shutdown" 3 "Valet Startup" 2 "Shutdown" 1 "Startup" 0 "None" ;
-VAL_ 1057 MODE 2 "Valet" 1 "Manual" 0 "Auto" ;
-VAL_ 1056 STATUS_INV1 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS9 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS8 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS7 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS6 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS5 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS4 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS3 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS2 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS12 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS11 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS10 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 STATUS1 5 "Over current" 4 "Bad fuse" 3 "Bad relay" 2 "No load" 1 "On" 0 "Off" ;
-VAL_ 1056 SCRIPT 4 "Valet Shutdown" 3 "Valet Startup" 2 "Shutdown" 1 "Startup" 0 "None" ;
-VAL_ 1056 MODE 2 "Valet" 1 "Manual" 0 "Auto" ;
-VAL_ 1042 SCRIPT 4 "Valet Shutdown" 3 "Valet Startup" 2 "Shutdown" 1 "Startup" 0 "None" ;
-VAL_ 1041 MODE 2 "Valet" 1 "Manual" 0 "Auto" ;
-VAL_ 1040 REQUEST 2 "Toggle" 1 "On" 0 "Off" ;
-VAL_ 1040 CHANNEL 51 "INVERTER 4" 50 "INVERTER 3" 49 "INVERTER 2" 48 "INVERTER 1" 23 "CH24" 22 "CH23" 21 "CH22" 20 "CH21" 19 "CH20" 18 "CH19" 17 "CH18" 16 "CH17" 15 "CH16" 14 "CH15" 13 "CH14" 12 "CH13" 11 "CH12" 10 "CH11" 9 "CH10" 8 "CH09" 7 "CH08" 6 "CH07" 5 "CH06" 4 "CH05" 3 "CH04" 2 "CH03" 1 "CH02" 0 "CH01" ;
-VAL_ 105 CNCL 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 RES 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 ON 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 OFF 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 BELTP 1 "Buckled" 0 "Unbuckled" ;
-VAL_ 105 BELTD 1 "Buckled" 0 "Unbuckled" ;
-VAL_ 105 PABAG 1 "Enabled" 0 "Disabled" ;
-VAL_ 105 PDECT 1 "Passenger" 0 "No Passenger" ;
-VAL_ 105 TRUNK 1 "Open" 0 "Closed" ;
-VAL_ 105 HOOD 1 "Open" 0 "Closed" ;
-VAL_ 105 DOORR 1 "Open" 0 "Closed" ;
-VAL_ 105 DOORP 1 "Open" 0 "Closed" ;
-VAL_ 105 DOORL 1 "Open" 0 "Closed" ;
-VAL_ 105 DOORD 1 "Open" 0 "Closed" ;
-VAL_ 105 WIPER 15 "NO_DATA" 14 "STALLED" 13 "RESERVED" 12 "AUTO_ADJUST" 11 "COURTESY_WIPE" 10 "AUTO_HIGH" 9 "AUTO_LOW" 8 "WASH" 7 "MIST_FLICK" 6 "MANUAL_HIGH" 5 "MANUAL_LOW" 4 "MANUAL_ON" 3 "MANUAL_OFF" 2 "OFF_MOVING" 1 "AUTO_OFF" 0 "OFF" ;
-VAL_ 105 TRNSTAT 2 "Right" 1 "Left" 0 "None" ;
-VAL_ 105 SINC 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 SDEC 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 ONOFF 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 LKAEN 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 HIBEAM 2 "HIGH" 1 "FLASH_TO_PASS" 0 "NULL" ;
-VAL_ 105 GINC 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 GDEC 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 FLTBUS 1 "Fault" 0 "No Fault" ;
-VAL_ 105 RESCNCL 1 "Pressed" 0 "Not Pressed" ;
-VAL_ 105 AMBIENT 7 "NO_DATA" 4 "TUNNEL_OFF" 3 "TUNNEL_ON" 2 "TWILIGHT" 1 "LIGHT" 0 "DARK" ;
-VAL_ 104 TRNCMD 2 "Right" 1 "Left" 0 "None" ;
-VAL_ 103 STATE 5 "Low" 4 "Drive" 3 "Neutral" 0 "None" 2 "Reverse" 1 "Park" ;
-VAL_ 103 FLTBUS 1 "Fault" 0 "No Fault" ;
-VAL_ 103 DRIVER 1 "Last shift requested by driver" 0 "Last shift requested by-wire" ;
-VAL_ 103 CMD 5 "Low" 4 "Drive" 3 "Neutral" 0 "None" 2 "Reverse" 1 "Park" ;
-VAL_ 102 GCMD 5 "Low" 4 "Drive" 3 "Neutral" 0 "None" 2 "Reverse" 1 "Park" ;
-VAL_ 101 DRIVER 1 "Driver Activity" 0 "No Activity" ;
-VAL_ 101 FLTWDC 1 "Fault" 0 "No Fault" ;
-VAL_ 101 FLTCAL 1 "Fault" 0 "No Fault" ;
-VAL_ 101 FLTCON 1 "Fault" 0 "No Fault" ;
-VAL_ 101 FLT2 1 "Fault" 0 "No Fault" ;
-VAL_ 101 FLT1 1 "Fault" 0 "No Fault" ;
-VAL_ 101 EN 1 "Enabled" 0 "Disabled" ;
-VAL_ 101 OVERRIDE 1 "Driver Override" 0 "No Override" ;
-VAL_ 100 EN 1 "Enabled" 0 "Disable" ;
-VAL_ 99 WDCSRC 15 "STEERING_REPORT" 14 "STEERING_COMMAND" 13 "STEERING_DISABLED" 12 "STEERING_COUNTER" 11 "THROTTLE_REPORT" 10 "THROTTLE_COMMAND" 9 "THROTTLE_DISABLED" 8 "THROTTLE_COUNTER" 7 "BRAKE_REPORT" 6 "BRAKE_COMMAND" 5 "BRAKE_DISABLED" 4 "BRAKE_COUNTER" 3 "OTHER_STEERING" 2 "OTHER_THROTTLE" 1 "OTHER_BRAKE" 0 "NONE" ;
-VAL_ 99 DRIVER 1 "Driver Activity" 0 "No Activity" ;
-VAL_ 99 FLTWDC 1 "Fault" 0 "No Fault" ;
-VAL_ 99 FLTCON 1 "Fault" 0 "No Fault" ;
-VAL_ 99 FLT2 1 "Fault" 0 "No Fault" ;
-VAL_ 99 FLT1 1 "Fault" 0 "No Fault" ;
-VAL_ 99 EN 1 "Enabled" 0 "Disabled" ;
-VAL_ 99 OVERRIDE 1 "Driver Override" 0 "No Override" ;
-VAL_ 98 EN 1 "Enabled" 0 "Disable" ;
-VAL_ 97 WDCSRC 15 "STEERING_REPORT" 14 "STEERING_COMMAND" 13 "STEERING_DISABLED" 12 "STEERING_COUNTER" 11 "THROTTLE_REPORT" 10 "THROTTLE_COMMAND" 9 "THROTTLE_DISABLED" 8 "THROTTLE_COUNTER" 7 "BRAKE_REPORT" 6 "BRAKE_COMMAND" 5 "BRAKE_DISABLED" 4 "BRAKE_COUNTER" 3 "OTHER_STEERING" 2 "OTHER_THROTTLE" 1 "OTHER_BRAKE" 0 "NONE" ;
-VAL_ 97 WDCBRK 1 "WDC applying brakes" 0 "Normal" ;
-VAL_ 97 DRIVER 1 "Driver Activity" 0 "No Activity" ;
-VAL_ 97 FLTWDC 1 "Fault" 0 "No Fault" ;
-VAL_ 97 FLTCON 1 "Fault" 0 "No Fault" ;
-VAL_ 97 FLTBOO 1 "Fault" 0 "No Fault" ;
-VAL_ 97 FLT2 1 "Fault" 0 "No Fault" ;
-VAL_ 97 FLT1 1 "Fault" 0 "No Fault" ;
-VAL_ 97 EN 1 "Enabled" 0 "Disabled" ;
-VAL_ 97 OVERRIDE 1 "Driver Override" 0 "No Override" ;
-VAL_ 97 BO 1 "On" 0 "Off" ;
-VAL_ 97 BI 1 "On" 0 "Off" ;
-VAL_ 97 BC 1 "On" 0 "Off" ;
-VAL_ 96 EN 1 "Enabled" 0 "Disable" ;
-VAL_ 96 BCMD 1 "On" 0 "Off" ;
-

installation/files/continue.sh

@@ -7,16 +7,17 @@
 export GIT_SSH_COMMAND="ssh -i /data/data/com.termux/files/id_rsa_openpilot_ro"
 
 # check out the openpilot repo
-# TODO: release branch only
 if [ ! -d /data/openpilot ]; then
   cd /tmp
-  git clone git@github.com:commaai/openpilot.git
+  git clone git@github.com:commaai/openpilot.git -b release
   mv /tmp/openpilot /data/openpilot
 fi
 
-# update the openpilot repo
+# enter openpilot directory
 cd /data/openpilot
-git pull
+
+# removed automatic update from openpilot
+#git pull
 
 # start manager
 cd selfdrive

requirements_openpilot.txt

@@ -0,0 +1,12 @@
+Cython==0.24.1
+bitstring==3.1.5
+fastcluster==1.1.21
+h5py==2.6.0
+libusb1==1.5.0
+pycapnp==0.5.9
+pyzmq==15.4.0
+raven==5.23.0
+requests==2.10.0
+setproctitle==1.1.10
+simplejson==3.8.2
+-e git+https://github.com/commaai/le_python.git#egg=Logentries

run_docker_tests.sh

@@ -0,0 +1,7 @@
+#!/bin/bash
+set -e
+
+docker build -t tmppilot -f Dockerfile.openpilot .
+docker run --rm \
+  -v "$(pwd)"/selfdrive/test/plant/out:/tmp/openpilot/selfdrive/test/plant/out \
+  tmppilot /bin/sh -c 'cd /tmp/openpilot/selfdrive/test/plant && ./runtest.sh'

selfdrive/boardd/boardd.cc

@@ -27,6 +27,8 @@ libusb_context *ctx = NULL;
 libusb_device_handle *dev_handle;
 pthread_mutex_t usb_lock;
 
+bool spoofing_started = false;
+
 // double the FIFO size
 #define RECV_SIZE (0x1000)
 #define TIMEOUT 0
@@ -147,7 +149,11 @@ void can_health(void *s) {
   // set fields
   healthData.setVoltage(health.voltage);
   healthData.setCurrent(health.current);
-  healthData.setStarted(health.started);
+  if (spoofing_started) {
+    healthData.setStarted(1);
+  } else {
+    healthData.setStarted(health.started);
+  }
   healthData.setControlsAllowed(health.controls_allowed);
   healthData.setGasInterceptorDetected(health.gas_interceptor_detected);
 
@@ -177,7 +183,7 @@ void can_send(void *s) {
   memset(send, 0, msg_count*0x10);
 
   for (int i = 0; i < msg_count; i++) {
-    auto cmsg = event.getCan()[i];
+    auto cmsg = event.getSendcan()[i];
     if (cmsg.getAddress() >= 0x800) {
       // extended
       send[i*4] = (cmsg.getAddress() << 3) | 5;
@@ -270,6 +276,11 @@ int main() {
   err = setpriority(PRIO_PROCESS, 0, -4);
   printf("boardd: setpriority returns %d\n", err);
 
+  // check the environment
+  if (getenv("STARTED")) {
+    spoofing_started = true;
+  }
+
   // connect to the board
   err = libusb_init(&ctx);
   assert(err == 0);

selfdrive/boardd/boardd.py

@@ -18,19 +18,23 @@ except Exception:
 # TODO: rewrite in C to save CPU
 
 # *** serialization functions ***
-def can_list_to_can_capnp(can_msgs):
+def can_list_to_can_capnp(can_msgs, msgtype='can'):
   dat = messaging.new_message()
-  dat.init('can', len(can_msgs))
+  dat.init(msgtype, len(can_msgs))
   for i, can_msg in enumerate(can_msgs):
-    dat.can[i].address = can_msg[0]
+    if msgtype == 'sendcan':
-    dat.can[i].busTime = can_msg[1]
+      cc = dat.sendcan[i]
-    dat.can[i].dat = can_msg[2]
+    else:
-    dat.can[i].src = can_msg[3]
+      cc = dat.can[i]
+    cc.address = can_msg[0]
+    cc.busTime = can_msg[1]
+    cc.dat = can_msg[2]
+    cc.src = can_msg[3]
   return dat
 
 def can_capnp_to_can_list_old(dat, src_filter=[]):
   ret = []
-  for msg in dat.can:
+  for msg in dat:
     if msg.src in src_filter:
       ret.append([msg.address, msg.busTime, msg.dat.encode("hex")])
   return ret

selfdrive/car/fingerprints.py

@@ -1,8 +1,12 @@
 fingerprints = {
   "ACURA ILX 2016 ACURAWATCH PLUS": {
-    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 929L: 4, 1057L: 5, 777L: 8, 1034L: 5, 1036L: 8, 398L: 3, 399L: 7, 145L: 8, 660L: 8, 985L: 3, 923L: 2, 542L: 7, 773L: 7, 800L: 8, 432L: 7, 419L: 8, 420L: 8, 1030L: 5, 422L: 8, 808L: 8, 428L: 8, 304L: 8, 819L: 7, 821L: 5, 57L: 3, 316L: 8, 545L: 4, 464L: 8, 1108L: 8, 597L: 8, 342L: 6, 983L: 8, 344L: 8, 804L: 8, 1039L: 8, 476L: 4, 892L: 8, 490L: 8, 1064L: 7, 882L: 2, 884L: 7, 887L: 8, 888L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 4,
   },
   "HONDA CIVIC 2016 TOURING": {
-    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5
+    1024L: 5, 513L: 5, 1027L: 5, 1029L: 8, 777L: 8, 1036L: 8, 1039L: 8, 1424L: 5, 401L: 8, 148L: 8, 662L: 4, 985L: 3, 795L: 8, 773L: 7, 800L: 8, 545L: 6, 420L: 8, 806L: 8, 808L: 8, 1322L: 5, 427L: 3, 428L: 8, 304L: 8, 432L: 7, 57L: 3, 450L: 8, 929L: 8, 330L: 8, 1302L: 8, 464L: 8, 1361L: 5, 1108L: 8, 597L: 8, 470L: 2, 344L: 8, 804L: 8, 399L: 7, 476L: 7, 1633L: 8, 487L: 4, 892L: 8, 490L: 8, 493L: 5, 884L: 8, 891L: 8, 380L: 8, 1365L: 5,
+    # sent messages
+    0xe4: 5, 0x1fa: 8, 0x200: 3, 0x30c: 8, 0x33d: 5, 0x35e: 8, 0x39f: 8,
   }
 }

selfdrive/car/honda/can_parser.py

@@ -2,7 +2,7 @@ import os
 import dbcs
 from collections import defaultdict
 
-from selfdrive.controls.lib.hondacan import fix
+from selfdrive.car.honda.hondacan import fix
 from common.realtime import sec_since_boot
 from common.dbc import dbc
 
@@ -112,7 +112,7 @@ class CANParser(object):
     # assess overall can validity: if there is one relevant message invalid, then set can validity flag to False
     self.can_valid = True
     if False in self.ok.values():
-      print "CAN INVALID!"
+      #print "CAN INVALID!"
       self.can_valid = False
 
   def _check_dead_msgs(self):

selfdrive/car/honda/carcontroller.py

@@ -1,25 +1,54 @@
 from collections import namedtuple
 
 import common.numpy_fast as np
-import selfdrive.controls.lib.hondacan as hondacan
 from common.realtime import sec_since_boot
 from selfdrive.config import CruiseButtons
 from selfdrive.boardd.boardd import can_list_to_can_capnp
-from selfdrive.controls.lib.alert_database import process_hud_alert
 from selfdrive.controls.lib.drive_helpers import actuator_hystereses, rate_limit
 
+class AH:
+  #[alert_idx, value]
+  # See dbc files for info on values"
+  NONE           = [0, 0]
+  FCW            = [1, 0x8]
+  STEER          = [2, 1]
+  BRAKE_PRESSED  = [3, 10]
+  GEAR_NOT_D     = [4, 6]
+  SEATBELT       = [5, 5]
+  SPEED_TOO_HIGH = [6, 8]
+
+
+def process_hud_alert(hud_alert):
+  # initialize to no alert
+  fcw_display = 0
+  steer_required = 0
+  acc_alert = 0
+  if hud_alert == AH.NONE:          # no alert 
+    pass
+  elif hud_alert == AH.FCW:         # FCW
+    fcw_display = hud_alert[1]
+  elif hud_alert == AH.STEER:       # STEER
+    steer_required = hud_alert[1]
+  else:                             # any other ACC alert
+    acc_alert = hud_alert[1]
+
+  return fcw_display, steer_required, acc_alert
+
+import selfdrive.car.honda.hondacan as hondacan
+
 HUDData = namedtuple("HUDData",
                      ["pcm_accel", "v_cruise", "X2", "car", "X4", "X5",
                       "lanes", "beep", "X8", "chime", "acc_alert"])
 
 class CarController(object):
   def __init__(self):
-    self.controls_allowed = False
-    self.mismatch_start, self.pcm_mismatch_start = 0, 0
     self.braking = False
     self.brake_steady = 0.
     self.final_brake_last = 0.
 
+    # redundant safety check with the board
+    self.controls_allowed = False
+
   def update(self, sendcan, enabled, CS, frame, final_gas, final_brake, final_steer, \
              pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
              hud_v_cruise, hud_show_lanes, hud_show_car, hud_alert, \
@@ -61,9 +90,9 @@ class CarController(object):
     #print chime, alert_id, hud_alert
     fcw_display, steer_required, acc_alert = process_hud_alert(hud_alert)
 
-    hud = HUDData(pcm_accel, hud_v_cruise, 0x41, hud_car,
+    hud = HUDData(int(pcm_accel), int(hud_v_cruise), 0x41, hud_car,
                   0xc1, 0x41, hud_lanes + steer_required,
-                  snd_beep, 0x48, (snd_chime << 5) + fcw_display, acc_alert)
+                  int(snd_beep), 0x48, (snd_chime << 5) + fcw_display, acc_alert)
 
     if not all(isinstance(x, int) and 0 <= x < 256 for x in hud):
       print "INVALID HUD", hud
@@ -71,14 +100,11 @@ class CarController(object):
 
     # **** process the car messages ****
 
-    user_brake_ctrl = CS.user_brake/0.015625  # FIXME: factor needed to convert to old scale
-
     # *** compute control surfaces ***
     tt = sec_since_boot()
     GAS_MAX = 1004
     BRAKE_MAX = 1024/4
-    #STEER_MAX = 0xF00 if not CS.torque_mod else 0xF00/4    # ilx has 8x steering torque limit, used as a 2x
+    STEER_MAX = 0xF00
-    STEER_MAX = 0xF00  # ilx has 8x steering torque limit, used as a 2x
     GAS_OFFSET = 328
 
     # steer torque is converted back to CAN reference (positive when steering right)
@@ -87,51 +113,37 @@ class CarController(object):
     apply_steer = int(np.clip(-final_steer*STEER_MAX, -STEER_MAX, STEER_MAX))
 
     # no gas if you are hitting the brake or the user is
-    if apply_gas > 0 and (apply_brake != 0 or user_brake_ctrl > 10):
+    if apply_gas > 0 and (apply_brake != 0 or CS.brake_pressed):
-      print "CANCELLING GAS", apply_brake, user_brake_ctrl
+      print "CANCELLING GAS", apply_brake
       apply_gas = 0
 
-    # no computer brake if the user is hitting the gas
+    # no computer brake if the gas is being pressed
-    # if the computer is trying to brake, it can't be hitting the gas
-    # TODO: car_gas can override brakes without canceling... this is bad 
     if CS.car_gas > 0 and apply_brake != 0:
+      print "CANCELLING BRAKE"
       apply_brake = 0
 
+    # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
+    if CS.steer_not_allowed:
+      print "STEER ALERT, TORQUE INHIBITED"
+      apply_steer = 0
+
+    # *** entry into controls state ***
     if (CS.prev_cruise_buttons == CruiseButtons.DECEL_SET or CS.prev_cruise_buttons == CruiseButtons.RES_ACCEL) and \
         CS.cruise_buttons == 0 and not self.controls_allowed:
       print "CONTROLS ARE LIVE"
       self.controls_allowed = True
 
-    # to avoid race conditions, check if control has been disabled for at least 0.2s
+    # *** exit from controls state on cancel, gas, or brake ***
-    # keep resetting start timer if mismatch isn't true
-    if not (self.controls_allowed and not enabled):
-      self.mismatch_start = tt
-
-    # to avoid race conditions, check if control is disabled but pcm control is on for at least 0.2s
-    if not (not self.controls_allowed and CS.pcm_acc_status):
-      self.pcm_mismatch_start = tt
-
-    # something is very wrong, since pcm control is active but controls should not be allowed; TODO: send pcm fault cmd?
-    if (tt - self.pcm_mismatch_start) > 0.2:
-      pcm_cancel_cmd = True
-
-    # TODO: clean up gear condition, ideally only D (and P for debug) shall be valid gears
     if (CS.cruise_buttons == CruiseButtons.CANCEL or CS.brake_pressed or
-        CS.user_gas_pressed or (tt - self.mismatch_start) > 0.2 or
+        CS.user_gas_pressed or (CS.pedal_gas > 0 and CS.brake_only)) and self.controls_allowed:
-        not CS.main_on or not CS.gear_shifter_valid or
+      print "CONTROLS ARE DEAD"
-        (CS.pedal_gas > 0 and CS.brake_only)) and self.controls_allowed:
       self.controls_allowed = False
 
-    # 5 is a permanent fault, no torque request will be fullfilled
+    # *** controls fail on steer error, brake error, or invalid can ***
     if CS.steer_error:
       print "STEER ERROR"
       self.controls_allowed = False
 
-    # any other cp.vl[0x18F]['STEER_STATUS'] is common and can happen during user override. sending 0 torque to avoid EPS sending error 5
-    elif CS.steer_not_allowed:
-      print "STEER ALERT, TORQUE INHIBITED"
-      apply_steer = 0
-
     if CS.brake_error:
       print "BRAKE ERROR"
       self.controls_allowed = False
@@ -140,13 +152,6 @@ class CarController(object):
       print "CAN INVALID"
       self.controls_allowed = False
 
-    if not self.controls_allowed:
-      apply_steer = 0
-      apply_gas = 0
-      apply_brake = 0
-      pcm_speed = 0          # make sure you send 0 target speed to pcm
-      #pcm_cancel_cmd = 1    # prevent pcm control from turning on. FIXME: we can't just do this
-
     # Send CAN commands.
     can_sends = []
 
@@ -160,7 +165,6 @@ class CarController(object):
       can_sends.append(
         hondacan.create_brake_command(apply_brake, pcm_override,
                                       pcm_cancel_cmd, hud.chime, idx))
-
       if not CS.brake_only:
         # send exactly zero if apply_gas is zero. Interceptor will send the max between read value and apply_gas. 
         # This prevents unexpected pedal range rescaling
@@ -182,4 +186,5 @@ class CarController(object):
       idx = (frame/radar_send_step) % 4
       can_sends.extend(hondacan.create_radar_commands(CS.v_ego, CS.civic, idx))
 
-    sendcan.send(can_list_to_can_capnp(can_sends).to_bytes())
+    sendcan.send(can_list_to_can_capnp(can_sends, msgtype='sendcan').to_bytes())
+

selfdrive/car/honda/carstate.py

@@ -2,11 +2,11 @@ import numpy as np
 
 import selfdrive.messaging as messaging
 from selfdrive.boardd.boardd import can_capnp_to_can_list_old, can_capnp_to_can_list
-from selfdrive.controls.lib.can_parser import CANParser
-from selfdrive.controls.lib.fingerprints import fingerprints
 from selfdrive.config import VehicleParams
 from common.realtime import sec_since_boot
 
+from selfdrive.car.fingerprints import fingerprints
+from selfdrive.car.honda.can_parser import CANParser
 
 def get_can_parser(civic, brake_only):
   # this function generates lists for signal, messages and initial values
@@ -46,6 +46,7 @@ def get_can_parser(civic, brake_only):
       ("LEFT_BLINKER", 0x326, 0),
       ("RIGHT_BLINKER", 0x326, 0),
       ("COUNTER", 0x324, 0),
+      ("ENGINE_RPM", 0x17C, 0)
     ]
     checks = [
       (0x14a, 100),
@@ -97,6 +98,7 @@ def get_can_parser(civic, brake_only):
       ("LEFT_BLINKER", 0x294, 0),
       ("RIGHT_BLINKER", 0x294, 0),
       ("COUNTER", 0x324, 0),
+      ("ENGINE_RPM", 0x17C, 0)
     ]
     checks = [
       (0x156, 100),
@@ -153,6 +155,7 @@ def fingerprint(logcan):
     if len(possible_cars) == 1 and st is not None and (sec_since_boot()-st) > 0.1:
       break
     elif len(possible_cars) == 0:
+      print finger
       raise Exception("car doesn't match any fingerprints")
 
   print "fingerprinted", possible_cars[0]
@@ -183,6 +186,9 @@ class CarState(object):
     self.cruise_setting = 0
     self.blinker_on = 0
 
+    self.left_blinker_on = 0
+    self.right_blinker_on = 0
+
     # TODO: actually make this work
     self.a_ego = 0.
 
@@ -190,16 +196,9 @@ class CarState(object):
     self.ui_speed_fudge = 1.01 if self.civic else 1.025
 
     # load vehicle params
-    self.VP = VehicleParams(self.civic)
+    self.VP = VehicleParams(self.civic, self.brake_only, self.torque_mod)
-
-  def update(self, logcan):
-    # ******************* do can recv *******************
-    can_pub_main = []
-    canMonoTimes = []
-    for a in messaging.drain_sock(logcan):
-      canMonoTimes.append(a.logMonoTime)
-      can_pub_main.extend(can_capnp_to_can_list_old(a, [0,2]))
 
+  def update(self, can_pub_main):
     cp = self.cp
     cp.update_can(can_pub_main)
 
@@ -215,6 +214,11 @@ class CarState(object):
     self.prev_cruise_setting = self.cruise_setting
     self.prev_blinker_on = self.blinker_on
 
+    self.prev_left_blinker_on = self.left_blinker_on
+    self.prev_right_blinker_on = self.right_blinker_on
+
+    self.rpm = cp.vl[0x17C]['ENGINE_RPM']
+
     # ******************* parse out can *******************
     self.door_all_closed = not any([cp.vl[0x405]['DOOR_OPEN_FL'], cp.vl[0x405]['DOOR_OPEN_FR'],
                                cp.vl[0x405]['DOOR_OPEN_RL'], cp.vl[0x405]['DOOR_OPEN_RR']])
@@ -252,6 +256,8 @@ class CarState(object):
       self.main_on = cp.vl[0x326]['MAIN_ON']
       self.gear_shifter_valid = self.gear_shifter in [1,8]  # TODO: 1/P allowed for debug
       self.blinker_on = cp.vl[0x326]['LEFT_BLINKER'] or cp.vl[0x326]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x326]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x326]['RIGHT_BLINKER']
     else:
       self.gear_shifter = cp.vl[0x1A3]['GEAR_SHIFTER']
       self.angle_steers = cp.vl[0x156]['STEER_ANGLE']
@@ -261,6 +267,8 @@ class CarState(object):
       self.main_on = cp.vl[0x1A6]['MAIN_ON']
       self.gear_shifter_valid = self.gear_shifter in [1,4]  # TODO: 1/P allowed for debug
       self.blinker_on = cp.vl[0x294]['LEFT_BLINKER'] or cp.vl[0x294]['RIGHT_BLINKER']
+      self.left_blinker_on = cp.vl[0x294]['LEFT_BLINKER']
+      self.right_blinker_on = cp.vl[0x294]['RIGHT_BLINKER']
     self.car_gas = cp.vl[0x130]['CAR_GAS']
     self.brake_pressed = cp.vl[0x17C]['BRAKE_PRESSED']
     self.user_brake = cp.vl[0x1A4]['USER_BRAKE']
@@ -272,4 +280,3 @@ class CarState(object):
     self.hud_lead = cp.vl[0x30C]['HUD_LEAD']
     self.counter_pcm = cp.vl[0x324]['COUNTER']
 
-    return canMonoTimes

selfdrive/car/honda/interface.py

@@ -0,0 +1,233 @@
+#!/usr/bin/env python
+import time
+import numpy as np
+
+from selfdrive.config import Conversions as CV
+from selfdrive.car.honda.carstate import CarState
+from selfdrive.car.honda.carcontroller import CarController, AH
+from selfdrive.boardd.boardd import can_capnp_to_can_list_old
+
+from cereal import car
+
+import zmq
+from common.services import service_list
+import selfdrive.messaging as messaging
+
+# Car button codes
+class CruiseButtons:
+  RES_ACCEL   = 4
+  DECEL_SET   = 3
+  CANCEL      = 2
+  MAIN        = 1
+
+#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
+class CM:
+  MUTE = 0
+  SINGLE = 3
+  DOUBLE = 4
+  REPEATED = 1
+  CONTINUOUS = 2
+
+#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
+class BP:
+  MUTE = 0
+  SINGLE = 3
+  TRIPLE = 2
+  REPEATED = 1
+
+
+class CarInterface(object):
+  def __init__(self, read_only=False):
+    context = zmq.Context()
+    self.logcan = messaging.sub_sock(context, service_list['can'].port)
+
+    self.frame = 0
+
+    # *** init the major players ***
+    self.CS = CarState(self.logcan)
+
+    # sending if read only is False
+    if not read_only:
+      self.sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+      self.CC = CarController()
+
+  def getVehicleParams(self):
+    return self.CS.VP
+
+  # returns a car.CarState
+  def update(self):
+    # ******************* do can recv *******************
+    can_pub_main = []
+    canMonoTimes = []
+    for a in messaging.drain_sock(self.logcan):
+      canMonoTimes.append(a.logMonoTime)
+      can_pub_main.extend(can_capnp_to_can_list_old(a.can, [0,2]))
+    self.CS.update(can_pub_main)
+
+    # create message
+    ret = car.CarState.new_message()
+
+    # speeds
+    ret.vEgo = self.CS.v_ego
+    ret.wheelSpeeds.fl = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_FL']
+    ret.wheelSpeeds.fr = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_FR']
+    ret.wheelSpeeds.rl = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_RL']
+    ret.wheelSpeeds.rr = self.CS.cp.vl[0x1D0]['WHEEL_SPEED_RR']
+
+    # gas pedal
+    ret.gas = self.CS.car_gas / 256.0
+    if self.CS.VP.brake_only:
+      ret.gasPressed = self.CS.pedal_gas > 0
+    else:
+      ret.gasPressed = self.CS.user_gas_pressed
+
+    # brake pedal
+    ret.brake = self.CS.user_brake
+    ret.brakePressed = self.CS.brake_pressed != 0
+
+    # steering wheel
+    # TODO: units
+    ret.steeringAngle = self.CS.angle_steers
+    ret.steeringTorque = self.CS.cp.vl[0x18F]['STEER_TORQUE_SENSOR']
+    ret.steeringPressed = self.CS.steer_override
+
+    # cruise state
+    ret.cruiseState.enabled = self.CS.pcm_acc_status != 0
+    ret.cruiseState.speed = self.CS.v_cruise_pcm * CV.KPH_TO_MS
+
+    # TODO: button presses
+    buttonEvents = []
+
+    if self.CS.left_blinker_on != self.CS.prev_left_blinker_on:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'leftBlinker'
+      be.pressed = self.CS.left_blinker_on != 0
+      buttonEvents.append(be)
+
+    if self.CS.right_blinker_on != self.CS.prev_right_blinker_on:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'rightBlinker'
+      be.pressed = self.CS.right_blinker_on != 0
+      buttonEvents.append(be)
+
+    if self.CS.cruise_buttons != self.CS.prev_cruise_buttons:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'unknown'
+      if self.CS.cruise_buttons != 0:
+        be.pressed = True
+        but = self.CS.cruise_buttons
+      else:
+        be.pressed = False
+        but = self.CS.prev_cruise_buttons
+      if but == CruiseButtons.RES_ACCEL:
+        be.type = 'accelCruise'
+      elif but == CruiseButtons.DECEL_SET:
+        be.type = 'decelCruise'
+      elif but == CruiseButtons.CANCEL:
+        be.type = 'cancel'
+      elif but == CruiseButtons.MAIN:
+        be.type = 'altButton3'
+      buttonEvents.append(be)
+
+    if self.CS.cruise_setting != self.CS.prev_cruise_setting:
+      be = car.CarState.ButtonEvent.new_message()
+      be.type = 'unknown'
+      if self.CS.cruise_setting != 0:
+        be.pressed = True
+        but = self.CS.cruise_setting
+      else:
+        be.pressed = False
+        but = self.CS.prev_cruise_setting
+      if but == 1:
+        be.type = 'altButton1'
+      # TODO: more buttons?
+      buttonEvents.append(be)
+    ret.buttonEvents = buttonEvents
+
+    # errors
+    # TODO: I don't like the way capnp does enums
+    # These strings aren't checked at compile time
+    errors = []
+    if not self.CS.can_valid:
+      errors.append('commIssue')
+    if self.CS.steer_error:
+      errors.append('steerUnavailable')
+    elif self.CS.steer_not_allowed:
+      errors.append('steerTemporarilyUnavailable')
+    if self.CS.brake_error:
+      errors.append('brakeUnavailable')
+    if not self.CS.gear_shifter_valid:
+      errors.append('wrongGear')
+    if not self.CS.door_all_closed:
+      errors.append('doorOpen')
+    if not self.CS.seatbelt:
+      errors.append('seatbeltNotLatched')
+    if self.CS.esp_disabled:
+      errors.append('espDisabled')
+    if not self.CS.main_on:
+      errors.append('wrongCarMode')
+    if self.CS.gear_shifter == 2:
+      errors.append('reverseGear')
+
+    ret.errors = errors
+    ret.canMonoTimes = canMonoTimes
+
+    # cast to reader so it can't be modified
+    #print ret
+    return ret.as_reader()
+
+  # pass in a car.CarControl
+  # to be called @ 100hz
+  def apply(self, c):
+    #print c
+
+    if c.hudControl.speedVisible:
+      hud_v_cruise = c.hudControl.setSpeed * CV.MS_TO_KPH
+    else:
+      hud_v_cruise = 255
+
+    hud_alert = {
+      "none": AH.NONE, 
+      "fcw": AH.FCW,
+      "steerRequired": AH.STEER,
+      "brakePressed": AH.BRAKE_PRESSED,
+      "wrongGear": AH.GEAR_NOT_D,
+      "seatbeltUnbuckled": AH.SEATBELT,
+      "speedTooHigh": AH.SPEED_TOO_HIGH}[str(c.hudControl.visualAlert)]
+
+    snd_beep, snd_chime = {
+      "none": (BP.MUTE, CM.MUTE),
+      "beepSingle": (BP.SINGLE, CM.MUTE),
+      "beepTriple": (BP.TRIPLE, CM.MUTE),
+      "beepRepeated": (BP.REPEATED, CM.MUTE),
+      "chimeSingle": (BP.MUTE, CM.SINGLE),
+      "chimeDouble": (BP.MUTE, CM.DOUBLE),
+      "chimeRepeated": (BP.MUTE, CM.REPEATED),
+      "chimeContinuous": (BP.MUTE, CM.CONTINUOUS)}[str(c.hudControl.audibleAlert)]
+
+    pcm_accel = int(np.clip(c.cruiseControl.accelOverride/1.4,0,1)*0xc6)
+
+    self.CC.update(self.sendcan, c.enabled, self.CS, self.frame, \
+      c.gas, c.brake, c.steeringTorque, \
+      c.cruiseControl.speedOverride, \
+      c.cruiseControl.override, \
+      c.cruiseControl.cancel, \
+      pcm_accel, \
+      hud_v_cruise, c.hudControl.lanesVisible, \
+      hud_show_car = c.hudControl.leadVisible, \
+      hud_alert = hud_alert, \
+      snd_beep = snd_beep, \
+      snd_chime = snd_chime)
+
+    self.frame += 1
+    return not (c.enabled and not self.CC.controls_allowed)
+
+
+if __name__ == "__main__":
+  CI = CarInterface(read_only=True)
+  while 1:
+    cs = CI.update()
+    print(chr(27) + "[2J")
+    print cs
+    time.sleep(0.1)
+

selfdrive/config.py

@@ -57,12 +57,18 @@ class UIParams:
   car_color = 110
 
 class VehicleParams:
-  def __init__(self, civic):
+  def __init__(self, civic, brake_only=False, torque_mod=False):
     if civic:
       self.wheelbase = 2.67
       self.steer_ratio = 15.3
       self.slip_factor = 0.0014
+      self.civic = True
     else:
       self.wheelbase = 2.67      # from http://www.edmunds.com/acura/ilx/2016/sedan/features-specs/
       self.steer_ratio = 15.3    # from http://www.edmunds.com/acura/ilx/2016/road-test-specs/
       self.slip_factor = 0.0014
+      self.civic = False
+    self.brake_only = brake_only
+    self.torque_mod = torque_mod
+    self.ui_speed_fudge = 1.01 if self.civic else 1.025
+

selfdrive/controls/controlsd.py

@@ -1,85 +1,75 @@
 #!/usr/bin/env python
+import os
 import zmq
 import numpy as np
+import selfdrive.messaging as messaging
 
-from common.services import service_list
+from cereal import car
-from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 
-from selfdrive.config import CruiseButtons
 from selfdrive.config import Conversions as CV
+from common.services import service_list
+from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 
 from selfdrive.controls.lib.drive_helpers import learn_angle_offset
-from selfdrive.controls.lib.alert_database import process_alert, AI
-
-import selfdrive.messaging as messaging
 
-from selfdrive.controls.lib.carstate import CarState
-from selfdrive.controls.lib.carcontroller import CarController
 from selfdrive.controls.lib.longcontrol import LongControl
 from selfdrive.controls.lib.latcontrol import LatControl
 
 from selfdrive.controls.lib.pathplanner import PathPlanner
 from selfdrive.controls.lib.adaptivecruise import AdaptiveCruise
 
+from selfdrive.controls.lib.alertmanager import AlertManager
+
+car_type = os.getenv("CAR")
+if car_type is not None:
+  exec('from selfdrive.car.'+car_type+'.interface import CarInterface')
+else:
+  from selfdrive.car.honda.interface import CarInterface
+
+V_CRUISE_MAX = 144
+V_CRUISE_MIN = 8
+V_CRUISE_DELTA = 8
+V_CRUISE_ENABLE_MIN = 40
+
 def controlsd_thread(gctx, rate=100):  #rate in Hz
   # *** log ***
   context = zmq.Context()
   live100 = messaging.pub_sock(context, service_list['live100'].port)
+
   thermal = messaging.sub_sock(context, service_list['thermal'].port)
   live20 = messaging.sub_sock(context, service_list['live20'].port)
   model = messaging.sub_sock(context, service_list['model'].port)
+  health = messaging.sub_sock(context, service_list['health'].port)
 
-  logcan = messaging.sub_sock(context, service_list['can'].port)
+  # connects to can and sendcan
-  sendcan = messaging.pub_sock(context, service_list['sendcan'].port)
+  CI = CarInterface()
-
+  VP = CI.getVehicleParams()
-  # *** init the major players ***
-  CS = CarState(logcan)
-  CC = CarController()
 
   PP = PathPlanner(model)
   AC = AdaptiveCruise(live20)
 
+  AM = AlertManager()
+
   LoC = LongControl()
   LaC = LatControl()
 
-  # *** control initial values ***
+  # controls enabled state
-  apply_brake = 0
   enabled = False
+  last_enable_request = 0
 
-  # *** time values ***
+  # learned angle offset
-  last_enable_pressed = 0
-
-  # *** controls initial values ***
-  # *** display stuff
-  soft_disable_start = 0
-  sounding = False
-  no_mismatch_pcm_last, no_mismatch_ctrl_last = 0, 0
-
-  # car state
-  alert, sound_exp, hud_exp, text_exp, alert_p = None, 0, 0, 0, 0
-  rear_view_cam, rear_view_toggle = False, False
-
-  v_cruise = 255           # this means no display
-  v_cruise_max = 144
-  v_cruise_min = 8
-  v_cruise_delta = 8
-
-  # on activation target at least 25mph. With 5mph you need too much tapping
-  v_cruise_enable_min = 40
-
-  hud_v_cruise = 255
-
   angle_offset = 0
 
-  max_enable_speed = 57.   # ~91 mph
+  # rear view camera state
+  rear_view_toggle = False
 
-  pcm_threshold = 25.*CV.MPH_TO_MS    # below this speed pcm cancels
+  v_cruise_kph = 255
-
-  overtemp = True
 
   # 0.0 - 1.0
   awareness_status = 0.0
 
+  soft_disable_timer = None
+
   # start the loop
   set_realtime_priority(2)
 
@@ -88,14 +78,54 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     cur_time = sec_since_boot()
 
     # read CAN
-    canMonoTimes = CS.update(logcan)
+    CS = CI.update()
+
+    # did it request to enable?
+    enable_request, enable_condition = False, False
 
-    # **** rearview mirror management ***
+    if enabled:
-    if CS.cruise_setting == 1 and CS.prev_cruise_setting == 0:
+      # gives the user 6 minutes
-      rear_view_toggle = not rear_view_toggle
+      awareness_status -= 1.0/(100*60*6)
+      if awareness_status <= 0.:
+        AM.add("driverDistracted", enabled)
+
+    # handle button presses
+    for b in CS.buttonEvents:
+      print b
+
+      # reset awareness on any user action
+      awareness_status = 1.0
 
-    # show rear view camera on phone if in reverse gear or when lkas button is pressed
+      # button presses for rear view
-    rear_view_cam = (CS.gear_shifter == 2) or rear_view_toggle or CS.blinker_on
+      if b.type == "leftBlinker" or b.type == "rightBlinker":
+        if b.pressed:
+          rear_view_toggle = True
+        else:
+          rear_view_toggle = False
+
+      if b.type == "altButton1" and b.pressed:
+        rear_view_toggle = not rear_view_toggle
+
+      if not VP.brake_only and enabled and not b.pressed:
+        if b.type == "accelCruise":
+          v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) + V_CRUISE_DELTA
+        elif b.type == "decelCruise":
+          v_cruise_kph = v_cruise_kph - (v_cruise_kph % V_CRUISE_DELTA) - V_CRUISE_DELTA
+        v_cruise_kph = np.clip(v_cruise_kph, V_CRUISE_MIN, V_CRUISE_MAX)
+
+      if not enabled and b.type in ["accelCruise", "decelCruise"] and not b.pressed:
+        enable_request = True 
+
+      # do disable on button down
+      if b.type == "cancel" and b.pressed:
+        AM.add("disable", enabled)
+
+    # *** health checking logic ***
+    hh = messaging.recv_sock(health)
+    if hh is not None:
+      # if the board isn't allowing controls but somehow we are enabled!
+      if not hh.health.controlsAllowed and enabled:
+        AM.add("controlsMismatch", enabled)
 
     # *** thermal checking logic ***
 
@@ -105,130 +135,57 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       cpu_temps = [td.thermal.cpu0, td.thermal.cpu1, td.thermal.cpu2,
                    td.thermal.cpu3, td.thermal.mem, td.thermal.gpu]
       # check overtemp
-      overtemp = any(t > 950 for t in cpu_temps)
+      if any(t > 950 for t in cpu_temps):
+        AM.add("overheat", enabled)
 
     # *** getting model logic ***
-    PP.update(cur_time, CS.v_ego)
+    PP.update(cur_time, CS.vEgo)
 
     if rk.frame % 5 == 2:
       # *** run this at 20hz again ***
-      angle_offset = learn_angle_offset(enabled, CS.v_ego, angle_offset, np.asarray(PP.d_poly), LaC.y_des, CS.steer_override)
+      angle_offset = learn_angle_offset(enabled, CS.vEgo, angle_offset, np.asarray(PP.d_poly), LaC.y_des, CS.steeringPressed)
 
-    # to avoid race conditions, check if control has been disabled for at least 0.2s
+    # disable if the pedals are pressed while engaged, this is a user disable
-    mismatch_ctrl = not CC.controls_allowed and enabled
+    if enabled:
-    mismatch_pcm = (not CS.pcm_acc_status and (not apply_brake or CS.v_ego < 0.1)) and enabled
+      if CS.gasPressed or CS.brakePressed:
+        AM.add("disable", enabled)
+
+    if enable_request:
+      # check for pressed pedals
+      if CS.gasPressed or CS.brakePressed:
+        AM.add("pedalPressed", enabled)
+        enable_request = False
+      else:
+        print "enabled pressed at", cur_time
+        last_enable_request = cur_time
+
+    if VP.brake_only:
+      enable_condition = ((cur_time - last_enable_request) < 0.2) and CS.cruiseState.enabled
+    else:
+      enable_condition = enable_request
 
-    # keep resetting start timer if mismatch isn't true
+    if enable_request or enable_condition or enabled:
-    if not mismatch_ctrl:
+      # add all alerts from car
-      no_mismatch_ctrl_last = cur_time
+      for alert in CS.errors:
-    if not mismatch_pcm or not CS.brake_only:
+        AM.add(alert, enabled)
-      no_mismatch_pcm_last = cur_time
 
-    #*** v_cruise logic ***
+      if AC.dead:
-    if CS.brake_only:
+        AM.add("radarCommIssue", enabled)
-      v_cruise = int(CS.v_cruise_pcm) # TODO: why sometimes v_cruise_pcm is long type?
-    else:
-      if CS.prev_cruise_buttons == 0 and CS.cruise_buttons == CruiseButtons.RES_ACCEL and enabled:
-        v_cruise = v_cruise - (v_cruise % v_cruise_delta) + v_cruise_delta
-      elif CS.prev_cruise_buttons == 0 and CS.cruise_buttons == CruiseButtons.DECEL_SET and enabled:
-        v_cruise = v_cruise + (v_cruise % v_cruise_delta) - v_cruise_delta
-
-    # *** enabling/disabling logic ***
-    enable_pressed = (CS.prev_cruise_buttons == CruiseButtons.DECEL_SET or CS.prev_cruise_buttons == CruiseButtons.RES_ACCEL) \
-                     and CS.cruise_buttons == 0
-
-    if enable_pressed:
-      print "enabled pressed at", cur_time
-      last_enable_pressed = cur_time
-
-    # if pcm does speed control than we need to wait on pcm to enable
-    if CS.brake_only:
-      enable_condition = (cur_time - last_enable_pressed) < 0.2 and CS.pcm_acc_status
-    else:
-      enable_condition = enable_pressed
-
-    # always clear the alert at every cycle
-    alert_id = []
-
-    # check for PCM not enabling
-    if CS.brake_only and (cur_time - last_enable_pressed) < 0.2 and not CS.pcm_acc_status:
-      print "waiting for PCM to enable"
-
-    # check for denied enabling
-    if enable_pressed and not enabled:
-      deny_enable = \
-        [(AI.SEATBELT, not CS.seatbelt),
-         (AI.DOOR_OPEN, not CS.door_all_closed),
-         (AI.ESP_OFF, CS.esp_disabled),
-         (AI.STEER_ERROR, CS.steer_error),
-         (AI.BRAKE_ERROR, CS.brake_error),
-         (AI.GEAR_NOT_D, not CS.gear_shifter_valid),
-         (AI.MAIN_OFF, not CS.main_on),
-         (AI.PEDAL_PRESSED, CS.user_gas_pressed or CS.brake_pressed or (CS.pedal_gas > 0 and CS.brake_only)),
-         (AI.HIGH_SPEED, CS.v_ego > max_enable_speed),
-         (AI.OVERHEAT, overtemp),
-         (AI.COMM_ISSUE, PP.dead or AC.dead),
-         (AI.CONTROLSD_LAG, rk.remaining < -0.2)]
-      for alertn, cond in deny_enable:
-        if cond:
-          alert_id += [alertn]
-
-    # check for soft disables
-    if enabled:
-      soft_disable = \
-        [(AI.SEATBELT_SD, not CS.seatbelt),
-         (AI.DOOR_OPEN_SD, not CS.door_all_closed),
-         (AI.ESP_OFF_SD, CS.esp_disabled),
-         (AI.OVERHEAT_SD, overtemp),
-         (AI.COMM_ISSUE_SD, PP.dead or AC.dead),
-         (AI.CONTROLSD_LAG_SD, rk.remaining < -0.2)]
-      sounding = False
-      for alertn, cond in soft_disable:
-        if cond:
-          alert_id += [alertn]
-          sounding = True
-          # soft disengagement expired, user need to take control
-          if (cur_time - soft_disable_start) > 3.:
-            enabled = False
-            v_cruise = 255
-      if not sounding:
-        soft_disable_start = cur_time
-
-    # check for immediate disables
-    if enabled:
-      immediate_disable = \
-        [(AI.PCM_LOW_SPEED, (cur_time > no_mismatch_pcm_last > 0.2) and CS.v_ego < pcm_threshold),
-         (AI.STEER_ERROR_ID, CS.steer_error),
-         (AI.BRAKE_ERROR_ID, CS.brake_error),
-         (AI.CTRL_MISMATCH_ID, (cur_time - no_mismatch_ctrl_last) > 0.2),
-         (AI.PCM_MISMATCH_ID, (cur_time - no_mismatch_pcm_last) > 0.2)]
-      for alertn, cond in immediate_disable:
-        if cond:
-          alert_id += [alertn]
-          # immediate turn off control
-          enabled = False
-          v_cruise = 255
-
-    # user disabling
-    if enabled and (CS.user_gas_pressed or CS.brake_pressed or not CS.gear_shifter_valid or \
-         (CS.cruise_buttons == CruiseButtons.CANCEL and CS.prev_cruise_buttons == 0) or \
-         not CS.main_on or (CS.pedal_gas > 0 and CS.brake_only)):
-      enabled = False
-      v_cruise = 255
-      alert_id += [AI.DISABLE]
 
-    # enabling
+      if PP.dead:
-    if enable_condition and not enabled and len(alert_id) == 0:
+        AM.add("modelCommIssue", enabled)
+
+    if enable_condition and not enabled and not AM.alertPresent():
       print "*** enabling controls"
 
-      #enable both lateral and longitudinal controls
+      # beep for enabling
+      AM.add("enable", enabled)
+
+      # enable both lateral and longitudinal controls
       enabled = True
-      counter_pcm_enabled = CS.counter_pcm
+
       # on activation, let's always set v_cruise from where we are, even if PCM ACC is active
-      # what we want to be displayed in mph
+      v_cruise_kph = int(round(np.maximum(CS.vEgo * CV.MS_TO_KPH * VP.ui_speed_fudge, V_CRUISE_ENABLE_MIN)))
-      v_cruise_mph = round(CS.v_ego * CV.MS_TO_MPH * CS.ui_speed_fudge)
-      # what we need to send to have that displayed
-      v_cruise = int(round(np.maximum(v_cruise_mph * CV.MPH_TO_KPH, v_cruise_enable_min)))
 
       # 6 minutes driver you're on
       awareness_status = 1.0
@@ -236,67 +193,69 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
       # reset the PID loops
       LaC.reset()
       # start long control at actual speed
-      LoC.reset(v_pid = CS.v_ego)
+      LoC.reset(v_pid = CS.vEgo)
-
-      alert_id += [AI.ENABLE]
 
-    if v_cruise != 255 and not CS.brake_only:
+    if VP.brake_only and CS.cruiseState.enabled:
-      v_cruise = np.clip(v_cruise, v_cruise_min, v_cruise_max)
+      v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
 
-    # **** awareness status manager ****
+    # *** put the adaptive in adaptive cruise control ***
-    if enabled:
+    AC.update(cur_time, CS.vEgo, CS.steeringAngle, LoC.v_pid, awareness_status, VP)
-      # gives the user 6 minutes
-      awareness_status -= 1.0/(100*60*6)
-      # reset on steering, blinker, or cruise buttons
-      if CS.steer_override or CS.blinker_on or CS.cruise_buttons or CS.cruise_setting:
-        awareness_status = 1.0
-      if awareness_status <= 0.:
-        alert_id += [AI.DRIVER_DISTRACTED]
 
-    # ****** initial actuators commands ***
     # *** gas/brake PID loop ***
-    AC.update(cur_time, CS.v_ego, CS.angle_steers, LoC.v_pid, awareness_status, CS.VP)
+    final_gas, final_brake = LoC.update(enabled, CS.vEgo, v_cruise_kph, AC.v_target_lead, AC.a_target, AC.jerk_factor, VP)
-    final_gas, final_brake = LoC.update(enabled, CS, v_cruise, AC.v_target_lead, AC.a_target, AC.jerk_factor)
-    pcm_accel = int(np.clip(AC.a_pcm/1.4,0,1)*0xc6)   # TODO: perc of max accel in ACC?
 
     # *** steering PID loop ***
-    final_steer, sat_flag = LaC.update(enabled, CS, PP.d_poly, angle_offset)
+    final_steer, sat_flag = LaC.update(enabled, CS.vEgo, CS.steeringAngle, CS.steeringPressed, PP.d_poly, angle_offset, VP)
-
-    # this needs to stay before hysteresis logic to avoid pcm staying on control during brake hysteresis
-    pcm_override = True   # this is always True
-    pcm_cancel_cmd = False
-    if CS.brake_only and final_brake == 0.:
-      pcm_speed = LoC.v_pid - .3  # FIXME: just for exp
-    else:
-      pcm_speed = 0
 
     # ***** handle alerts ****
     # send a "steering required alert" if saturation count has reached the limit
     if sat_flag:
-      alert_id += [AI.STEER_SATURATED]
+      AM.add("steerSaturated", enabled)
-
-    # process the alert, based on id
-    alert, chime, beep, hud_alert, alert_text, sound_exp, hud_exp, text_exp, alert_p = \
-      process_alert(alert_id, alert, cur_time, sound_exp, hud_exp, text_exp, alert_p)
 
-    # alerts pub
+    if enabled and AM.alertShouldDisable():
-    if len(alert_id) != 0:
+      print "DISABLING IMMEDIATELY ON ALERT"
-      print alert_id, alert_text
+      enabled = False
 
-    # *** process for hud display ***
+    if enabled and AM.alertShouldSoftDisable():
-    if not enabled or (hud_v_cruise == 255 and CS.counter_pcm == counter_pcm_enabled):
+      if soft_disable_timer is None:
-      hud_v_cruise = 255
+        soft_disable_timer = 3 * rate
+      elif soft_disable_timer == 0:
+        print "SOFT DISABLING ON ALERT"
+        enabled = False
+      else:
+        soft_disable_timer -= 1
     else:
-      hud_v_cruise = v_cruise
+      soft_disable_timer = None
+      
+
+    # *** push the alerts to current ***
+    alert_text_1, alert_text_2, visual_alert, audible_alert = AM.process_alerts(cur_time)
 
-    # *** actually do can sends ***
+    # ***** control the car *****
-    CC.update(sendcan, enabled, CS, rk.frame, \
+    CC = car.CarControl.new_message()
-      final_gas, final_brake, final_steer, \
+
-      pcm_speed, pcm_override, pcm_cancel_cmd, pcm_accel, \
+    CC.enabled = enabled
-      hud_v_cruise, hud_show_lanes = enabled, \
+
-      hud_show_car = AC.has_lead, \
+    CC.gas = float(final_gas)
-      hud_alert = hud_alert, \
+    CC.brake = float(final_brake)
-      snd_beep = beep, snd_chime = chime)
+    CC.steeringTorque = float(final_steer)
+
+    CC.cruiseControl.override = True
+    CC.cruiseControl.cancel = bool((not VP.brake_only) or (not enabled and CS.cruiseState.enabled))    # always cancel if we have an interceptor
+    CC.cruiseControl.speedOverride = float((LoC.v_pid - .3) if (VP.brake_only and final_brake == 0.) else 0.0)
+    CC.cruiseControl.accelOverride = float(AC.a_pcm)
+
+    CC.hudControl.setSpeed = float(v_cruise_kph * CV.KPH_TO_MS)
+    CC.hudControl.speedVisible = enabled
+    CC.hudControl.lanesVisible = enabled
+    CC.hudControl.leadVisible = bool(AC.has_lead)
+
+    CC.hudControl.visualAlert = visual_alert
+    CC.hudControl.audibleAlert = audible_alert
+
+    # this alert will apply next controls cycle
+    if not CI.apply(CC):
+      AM.add("controlsFailed", enabled)
 
     # ***** publish state to logger *****
 
@@ -304,14 +263,14 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat = messaging.new_message()
     dat.init('live100')
 
-    # move liveUI into live100
+    # show rear view camera on phone if in reverse gear or when button is pressed
-    dat.live100.rearViewCam = bool(rear_view_cam)
+    dat.live100.rearViewCam = ('reverseGear' in CS.errors) or rear_view_toggle
-    dat.live100.alertText1 = alert_text[0]
+    dat.live100.alertText1 = alert_text_1
-    dat.live100.alertText2 = alert_text[1]
+    dat.live100.alertText2 = alert_text_2
     dat.live100.awarenessStatus = max(awareness_status, 0.0) if enabled else 0.0
 
     # what packets were used to process
-    dat.live100.canMonoTimes = canMonoTimes
+    dat.live100.canMonoTimes = list(CS.canMonoTimes)
     dat.live100.mdMonoTime = PP.logMonoTime
     dat.live100.l20MonoTime = AC.logMonoTime
 
@@ -319,15 +278,13 @@ def controlsd_thread(gctx, rate=100):  #rate in Hz
     dat.live100.enabled = enabled
 
     # car state
-    dat.live100.vEgo = float(CS.v_ego)
+    dat.live100.vEgo = CS.vEgo
-    dat.live100.aEgo = float(CS.a_ego)
+    dat.live100.angleSteers = CS.steeringAngle
-    dat.live100.angleSteers = float(CS.angle_steers)
+    dat.live100.steerOverride = CS.steeringPressed
-    dat.live100.hudLead = CS.hud_lead
-    dat.live100.steerOverride = CS.steer_override
 
     # longitudinal control state
     dat.live100.vPid = float(LoC.v_pid)
-    dat.live100.vCruise = float(v_cruise)
+    dat.live100.vCruise = float(v_cruise_kph)
     dat.live100.upAccelCmd = float(LoC.Up_accel_cmd)
     dat.live100.uiAccelCmd = float(LoC.Ui_accel_cmd)
 
@@ -356,3 +313,4 @@ def main(gctx=None):
 
 if __name__ == "__main__":
   main()
+

selfdrive/controls/lib/alert_database.py

@@ -1,178 +0,0 @@
-alerts = []
-keys = ["id",
-        "chime",
-        "beep",
-        "hud_alert",
-        "screen_chime",
-        "priority",
-        "text_line_1",
-        "text_line_2",
-        "duration_sound",
-        "duration_hud_alert",
-        "duration_text"]
-
-
-#car chimes: enumeration from dbc file. Chimes are for alerts and warnings
-class CM:
-  MUTE = 0
-  SINGLE = 3
-  DOUBLE = 4
-  REPEATED = 1
-  CONTINUOUS = 2
-
-
-#car beepss: enumeration from dbc file. Beeps are for activ and deactiv
-class BP:
-  MUTE = 0
-  SINGLE = 3
-  TRIPLE = 2
-  REPEATED = 1
-
-
-# lert ids
-class AI:
-  ENABLE = 0
-  DISABLE = 1
-  SEATBELT = 2
-  DOOR_OPEN = 3
-  PEDAL_PRESSED = 4
-  COMM_ISSUE = 5
-  ESP_OFF = 6
-  FCW = 7
-  STEER_ERROR = 8
-  BRAKE_ERROR = 9
-  CALIB_INCOMPLETE = 10
-  CALIB_INVALID = 11
-  GEAR_NOT_D = 12
-  MAIN_OFF = 13
-  STEER_SATURATED = 14
-  PCM_LOW_SPEED = 15
-  THERMAL_DEAD = 16
-  OVERHEAT = 17
-  HIGH_SPEED = 18
-  CONTROLSD_LAG = 19
-  STEER_ERROR_ID = 100
-  BRAKE_ERROR_ID = 101
-  PCM_MISMATCH_ID = 102
-  CTRL_MISMATCH_ID = 103
-  SEATBELT_SD = 200
-  DOOR_OPEN_SD = 201
-  COMM_ISSUE_SD = 202
-  ESP_OFF_SD = 203
-  THERMAL_DEAD_SD = 204
-  OVERHEAT_SD = 205
-  CONTROLSD_LAG_SD = 206
-  CALIB_INCOMPLETE_SD = 207
-  CALIB_INVALID_SD = 208
-  DRIVER_DISTRACTED = 300
-
-class AH:
-  #[alert_idx, value]
-  # See dbc files for info on values"
-  NONE           = [0, 0]
-  FCW            = [1, 0x8]
-  STEER          = [2, 1]
-  BRAKE_PRESSED  = [3, 10]
-  GEAR_NOT_D     = [4, 6]
-  SEATBELT       = [5, 5]
-  SPEED_TOO_HIGH = [6, 8]
-
-class ET:
-  ENABLE = 0
-  NO_ENTRY = 1
-  WARNING = 2
-  SOFT_DISABLE = 3
-  IMMEDIATE_DISABLE = 4
-  USER_DISABLE = 5
-
-def process_alert(alert_id, alert, cur_time, sound_exp, hud_exp, text_exp, alert_p):
-  # INPUTS:
-  # alert_id is mapped to the alert properties in alert_database
-  # cur_time is current time
-  # sound_exp is when the alert beep/chime is supposed to end 
-  # hud_exp is when the hud visual is supposed to end 
-  # text_exp is when the alert text is supposed to disappear 
-  # alert_p is the priority of the current alert 
-  # CM, BP, AH are classes defined in alert_database and they respresents chimes, beeps and hud_alerts
-  if len(alert_id) > 0:
-    # take the alert with higher priority
-    alerts_present = filter(lambda a_id: a_id['id'] in alert_id, alerts)
-    alert = sorted(alerts_present, key=lambda k: k['priority'])[-1]
-    # check if we have a more important alert
-    if alert['priority'] > alert_p:
-      alert_p = alert['priority']
-      sound_exp = cur_time + alert['duration_sound']
-      hud_exp = cur_time + alert['duration_hud_alert']
-      text_exp = cur_time + alert['duration_text']
-
-  chime = CM.MUTE
-  beep = BP.MUTE
-  if cur_time < sound_exp:
-    chime = alert['chime']
-    beep = alert['beep']
-
-  hud_alert = AH.NONE
-  if cur_time < hud_exp:
-    hud_alert = alert['hud_alert']
-
-  alert_text = ["", ""]
-  if cur_time < text_exp:
-    alert_text = [alert['text_line_1'], alert['text_line_2']]
-
-  if chime == CM.MUTE and beep == BP.MUTE and hud_alert == AH.NONE:   #and alert_text[0] is None and alert_text[1] is None:
-    alert_p = 0
-  return alert, chime, beep, hud_alert, alert_text, sound_exp, hud_exp, text_exp, alert_p
-
-def process_hud_alert(hud_alert):
-  # initialize to no alert
-  fcw_display = 0
-  steer_required = 0
-  acc_alert = 0
-  if hud_alert == AH.NONE:          # no alert 
-    pass
-  elif hud_alert == AH.FCW:         # FCW
-    fcw_display = hud_alert[1]
-  elif hud_alert == AH.STEER:       # STEER
-    steer_required = hud_alert[1]
-  else:                             # any other ACC alert
-    acc_alert = hud_alert[1]
-
-  return fcw_display, steer_required, acc_alert
-
-def app_alert(alert_add):
-  alerts.append(dict(zip(keys, alert_add)))
-
-app_alert([AI.ENABLE,              CM.MUTE,     BP.SINGLE, AH.NONE,           ET.ENABLE,            2, "",                         "",                        .2, 0., 0.])
-app_alert([AI.DISABLE,             CM.MUTE,     BP.SINGLE, AH.NONE,           ET.USER_DISABLE,      2, "",                         "",                        .2, 0., 0.])
-app_alert([AI.SEATBELT,            CM.DOUBLE,   BP.MUTE,   AH.SEATBELT,       ET.NO_ENTRY,          1, "Comma Unavailable",        "Seatbelt Unlatched",      .4, 2., 3.])
-app_alert([AI.DOOR_OPEN,           CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Door Open",               .4, 0., 3.])
-app_alert([AI.PEDAL_PRESSED,       CM.DOUBLE,   BP.MUTE,   AH.BRAKE_PRESSED,  ET.NO_ENTRY,          1, "Comma Unavailable",        "Pedal Pressed",           .4, 2., 3.])
-app_alert([AI.COMM_ISSUE,          CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Communcation Issues",     .4, 0., 3.])
-app_alert([AI.ESP_OFF,             CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "ESP Off",                 .4, 0., 3.])
-app_alert([AI.FCW,                 CM.REPEATED, BP.MUTE,   AH.FCW,            ET.WARNING,           3, "Risk of Collision",        "",                        1., 2., 3.])
-app_alert([AI.STEER_ERROR,         CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Steer Error",             .4, 0., 3.])
-app_alert([AI.BRAKE_ERROR,         CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Brake Error",             .4, 0., 3.])
-app_alert([AI.CALIB_INCOMPLETE,    CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Calibration in Progress", .4, 0., 3.])
-app_alert([AI.CALIB_INVALID,       CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Calibration Error",       .4, 0., 3.])
-app_alert([AI.GEAR_NOT_D,          CM.DOUBLE,   BP.MUTE,   AH.GEAR_NOT_D,     ET.NO_ENTRY,          1, "Comma Unavailable",        "Gear not in D",           .4, 2., 3.])
-app_alert([AI.MAIN_OFF,            CM.MUTE,     BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Main Switch Off",         .4, 0., 3.])
-app_alert([AI.STEER_SATURATED,     CM.SINGLE,   BP.MUTE,   AH.STEER,          ET.WARNING,           2, "Take Control",             "Steer Control Saturated", 1., 2., 3.])
-app_alert([AI.PCM_LOW_SPEED,       CM.MUTE,     BP.SINGLE, AH.STEER,          ET.WARNING,           2, "Comma disengaged",         "Speed too low",           .2, 2., 3.])
-app_alert([AI.THERMAL_DEAD,        CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Thermal Unavailable",     .4, 0., 3.])
-app_alert([AI.OVERHEAT,            CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "System Overheated",       .4, 0., 3.])
-app_alert([AI.HIGH_SPEED,          CM.DOUBLE,   BP.MUTE,   AH.SPEED_TOO_HIGH, ET.NO_ENTRY,          1, "Comma Unavailable",        "Speed Too High",          .4, 2., 3.])
-app_alert([AI.CONTROLSD_LAG,       CM.DOUBLE,   BP.MUTE,   AH.NONE,           ET.NO_ENTRY,          1, "Comma Unavailable",        "Controls Lagging",        .4, 0., 3.])
-app_alert([AI.STEER_ERROR_ID,      CM.REPEATED, BP.MUTE,   AH.STEER,          ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Steer Error",             1., 3., 3.])
-app_alert([AI.BRAKE_ERROR_ID,      CM.REPEATED, BP.MUTE,   AH.STEER,          ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Brake Error",             1., 3., 3.])
-app_alert([AI.PCM_MISMATCH_ID,     CM.REPEATED, BP.MUTE,   AH.STEER,          ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Pcm Mismatch",            1., 3., 3.])
-app_alert([AI.CTRL_MISMATCH_ID,    CM.REPEATED, BP.MUTE,   AH.STEER,          ET.IMMEDIATE_DISABLE, 3, "Take Control Immediately", "Ctrl Mismatch",           1., 3., 3.])
-app_alert([AI.SEATBELT_SD,         CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Seatbelt Unlatched",      1., 3., 3.])
-app_alert([AI.DOOR_OPEN_SD,        CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Door Open",               1., 3., 3.])
-app_alert([AI.COMM_ISSUE_SD,       CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Technical Issues",        1., 3., 3.])
-app_alert([AI.ESP_OFF_SD,          CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "ESP Off",                 1., 3., 3.])
-app_alert([AI.THERMAL_DEAD_SD,     CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Thermal Unavailable",     1., 3., 3.])
-app_alert([AI.OVERHEAT_SD,         CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "System Overheated",       1., 3., 3.])
-app_alert([AI.CONTROLSD_LAG_SD,    CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Controls Lagging",        1., 3., 3.])
-app_alert([AI.CALIB_INCOMPLETE_SD, CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Calibration in Progress", 1., 3., 3.])
-app_alert([AI.CALIB_INVALID_SD,    CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      3, "Take Control Immediately", "Calibration Error",       1., 3., 3.])
-app_alert([AI.DRIVER_DISTRACTED,   CM.REPEATED, BP.MUTE,   AH.STEER,          ET.SOFT_DISABLE,      2, "Take Control to Regain Speed", "User Distracted",     1., 1., 1.])

selfdrive/controls/lib/alertmanager.py

@@ -0,0 +1,113 @@
+from cereal import car
+
+class ET:
+  ENABLE = 0
+  NO_ENTRY = 1
+  WARNING = 2
+  SOFT_DISABLE = 3
+  IMMEDIATE_DISABLE = 4
+  USER_DISABLE = 5
+
+class alert(object):
+  def __init__(self, alert_text_1, alert_text_2, alert_type, visual_alert, audible_alert, duration_sound, duration_hud_alert, duration_text):
+    self.alert_text_1 = alert_text_1
+    self.alert_text_2 = alert_text_2
+    self.alert_type = alert_type
+    self.visual_alert = visual_alert if visual_alert is not None else "none"
+    self.audible_alert = audible_alert if audible_alert is not None else "none"
+
+    self.duration_sound = duration_sound
+    self.duration_hud_alert = duration_hud_alert
+    self.duration_text = duration_text
+
+    # typecheck that enums are valid on startup
+    tst = car.CarControl.new_message()
+    tst.hudControl.visualAlert = self.visual_alert
+    tst.hudControl.audibleAlert = self.audible_alert
+  
+  def __str__(self):
+    return self.alert_text_1 + "/" + self.alert_text_2 + " " + str(self.alert_type) + "  " + str(self.visual_alert) + " " + str(self.audible_alert)
+
+  def __gt__(self, alert2):
+    return self.alert_type > alert2.alert_type
+
+class AlertManager(object):
+  alerts = {
+    "enable":             alert("", "",                                            ET.ENABLE,       None,               "beepSingle", .2, 0., 0.),
+    "disable":            alert("", "",                                            ET.USER_DISABLE, None,               "beepSingle", .2, 0., 0.),
+    "pedalPressed":       alert("Comma Unavailable",        "Pedal Pressed",       ET.NO_ENTRY,     "brakePressed",     "chimeDouble", .4, 2., 3.),
+    "driverDistracted":   alert("Take Control to Regain Speed", "User Distracted", ET.WARNING,      "steerRequired", "chimeRepeated", 1., 1., 1.),
+    "steerSaturated":     alert("Take Control", "Steer Control Saturated",         ET.WARNING,      "steerRequired", "chimeSingle", 1., 2., 3.),
+    "overheat":           alert("Take Control Immediately", "System Overheated",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "controlsMismatch":   alert("Take Control Immediately", "Controls Mismatch",   ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "radarCommIssue":     alert("Take Control Immediately", "Radar Comm Issue",    ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "modelCommIssue":     alert("Take Control Immediately", "Model Comm Issue",    ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "controlsFailed":     alert("Take Control Immediately", "Controls Failed",     ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    # car errors
+    "commIssue":          alert("Take Control Immediately","Communication Issues", ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "steerUnavailable":   alert("Take Control Immediately","Steer Error",          ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "steerTemporarilyUnavailable": alert("Take Control", "Steer Temporarily Unavailable",  ET.WARNING,   "steerRequired", "chimeRepeated", 1., 2., 3.),
+    "brakeUnavailable":   alert("Take Control Immediately","Brake Error",          ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "gasUnavailable":     alert("Take Control Immediately","Gas Error",            ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "wrongGear":          alert("Take Control Immediately","Gear not D",           ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "reverseGear":        alert("Take Control Immediately","Car in Reverse",       ET.IMMEDIATE_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "doorOpen":           alert("Take Control Immediately","Door Open",            ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "seatbeltNotLatched": alert("Take Control Immediately","Seatbelt Unlatched",   ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "espDisabled":        alert("Take Control Immediately","ESP Off",              ET.SOFT_DISABLE, "steerRequired", "chimeRepeated", 1., 3., 3.),
+    "wrongCarMode":       alert("Comma Unavailable","Main Switch Off",      ET.NO_ENTRY,     None, None, .4, 0., 3.),
+  }
+  def __init__(self):
+    self.activealerts = []
+    self.current_alert = None
+
+  def alertPresent(self):
+    return len(self.activealerts) > 0
+
+  def alertShouldSoftDisable(self):
+    return len(self.activealerts) > 0 and self.activealerts[0].alert_type == ET.SOFT_DISABLE
+
+  def alertShouldDisable(self):
+    return len(self.activealerts) > 0 and self.activealerts[0].alert_type >= ET.IMMEDIATE_DISABLE
+
+  def add(self, alert_type, enabled = True):
+    this_alert = self.alerts[str(alert_type)]
+
+    # downgrade the alert if we aren't enabled
+    if not enabled and this_alert.alert_type > ET.NO_ENTRY:
+      this_alert = alert("Comma Unavailable" if this_alert.alert_text_1 != "" else "", this_alert.alert_text_2, ET.NO_ENTRY, None, "chimeDouble", .4, 0., 3.)
+
+    # ignore no entries if we are enabled 
+    if enabled and this_alert.alert_type < ET.WARNING:
+      return
+
+    self.activealerts.append(this_alert)
+    self.activealerts.sort()
+
+  def process_alerts(self, cur_time):
+    if self.alertPresent():
+      self.alert_start_time = cur_time
+      self.current_alert = self.activealerts[0]
+      print self.current_alert
+
+    alert_text_1 = ""
+    alert_text_2 = ""
+    visual_alert = "none"
+    audible_alert = "none"
+
+    if self.current_alert is not None:
+      # ewwwww
+      if self.alert_start_time + self.current_alert.duration_sound > cur_time:
+        audible_alert = self.current_alert.audible_alert
+
+      if self.alert_start_time + self.current_alert.duration_hud_alert > cur_time:
+        visual_alert = self.current_alert.visual_alert
+
+      if self.alert_start_time + self.current_alert.duration_text > cur_time:
+        alert_text_1 = self.current_alert.alert_text_1
+        alert_text_2 = self.current_alert.alert_text_2
+
+    # reset
+    self.activealerts = []
+
+    return alert_text_1, alert_text_2, visual_alert, audible_alert
+

selfdrive/controls/lib/latcontrol.py

@@ -97,24 +97,24 @@ class LatControl(object):
   def reset(self):
     self.Ui_steer = 0.
 
-  def update(self, enabled, CS, d_poly, angle_offset):
+  def update(self, enabled, v_ego, angle_steers, steer_override, d_poly, angle_offset, VP):
     rate = 100
 
     steer_max = 1.0
 
     # how far we look ahead is function of speed
-    d_lookahead = calc_d_lookahead(CS.v_ego)
+    d_lookahead = calc_d_lookahead(v_ego)
 
     # calculate actual offset at the lookahead point
-    self.y_actual, _ = calc_lookahead_offset(CS.v_ego, CS.angle_steers,
+    self.y_actual, _ = calc_lookahead_offset(v_ego, angle_steers,
-                                             d_lookahead, CS.VP, angle_offset)
+                                             d_lookahead, VP, angle_offset)
 
     # desired lookahead offset
     self.y_des = np.polyval(d_poly, d_lookahead)
 
     output_steer, self.Up_steer, self.Ui_steer, self.lateral_control_sat, self.sat_count, sat_flag = pid_lateral_control(
-      CS.v_ego, self.y_actual, self.y_des, self.Ui_steer, steer_max,
+      v_ego, self.y_actual, self.y_des, self.Ui_steer, steer_max,
-      CS.steer_override, self.sat_count, enabled, CS.torque_mod, rate)
+      steer_override, self.sat_count, enabled, VP.torque_mod, rate)
 
     final_steer = np.clip(output_steer, -steer_max, steer_max)
     return final_steer, sat_flag

selfdrive/controls/lib/longcontrol.py

@@ -107,7 +107,7 @@ def pid_long_control(v_ego, v_pid, Ui_accel_cmd, gas_max, brake_max, jerk_factor
   accel_cmd_new = Ui_accel_cmd_new + Up_accel_cmd
   output_gb_new = compute_gb([accel_cmd_new, v_ego])
 
-  # Anti-wind up for integrator: only update integrator if we not against the thottle and brake limits
+  # Anti-wind up for integrator: only update integrator if we not against the throttle and brake limits
   # do not wind up if we are changing gear and we are on the gas pedal
   if (((v_error >= 0. and (output_gb_new < gas_max or Ui_accel_cmd < 0)) or
        (v_error <= 0. and (output_gb_new > - brake_max or Ui_accel_cmd > 0))) and
@@ -151,9 +151,9 @@ class LongControl(object):
     self.Ui_accel_cmd = 0.
     self.v_pid = v_pid
 
-  def update(self, enabled, CS, v_cruise, v_target_lead, a_target, jerk_factor):
+  def update(self, enabled, v_ego, v_cruise, v_target_lead, a_target, jerk_factor, VP):
     # TODO: not every time
-    if CS.brake_only:
+    if VP.brake_only:
       gas_max_v = [0, 0]                # values
     else:
       gas_max_v = [0.6, 0.6]            # values
@@ -162,8 +162,8 @@ class LongControl(object):
     brake_max_bp = [0., 5., 20., 100.]  # speeds     
 
     # brake and gas limits
-    brake_max = np.interp(CS.v_ego, brake_max_bp, brake_max_v)
+    brake_max = np.interp(v_ego, brake_max_bp, brake_max_v)
-    gas_max = np.interp(CS.v_ego, gas_max_bp, gas_max_v)
+    gas_max = np.interp(v_ego, gas_max_bp, gas_max_v)
 
     overshoot_allowance = 2.0    # overshoot allowed when changing accel sign
 
@@ -172,30 +172,30 @@ class LongControl(object):
 
     # limit max target speed based on cruise setting:
     v_cruise_mph = round(v_cruise * CV.KPH_TO_MPH)   # what's displayed in mph on the IC
-    v_target = np.minimum(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / CS.ui_speed_fudge)
+    v_target = np.minimum(v_target_lead, v_cruise_mph * CV.MPH_TO_MS / VP.ui_speed_fudge)
 
     max_speed_delta_up = a_target[1]*1.0/rate
     max_speed_delta_down = a_target[0]*1.0/rate
 
     # *** long control substate transitions
-    self.long_control_state = long_control_state_trans(enabled, self.long_control_state, CS.v_ego, v_target, self.v_pid, output_gb)
+    self.long_control_state = long_control_state_trans(enabled, self.long_control_state, v_ego, v_target, self.v_pid, output_gb)
 
     # *** long control behavior based on state
     # TODO: move this to drive_helpers
     # disabled
     if self.long_control_state == LongCtrlState.off:
-      self.v_pid = CS.v_ego # do nothing
+      self.v_pid = v_ego # do nothing
       output_gb = 0.
       self.Ui_accel_cmd = 0.
     # tracking objects and driving
     elif self.long_control_state == LongCtrlState.pid:
       #reset v_pid close to v_ego if it was too far and new v_target is closer to v_ego
-      if ((self.v_pid > CS.v_ego + overshoot_allowance) and
+      if ((self.v_pid > v_ego + overshoot_allowance) and
           (v_target < self.v_pid)):
-        self.v_pid = np.maximum(v_target, CS.v_ego + overshoot_allowance)
+        self.v_pid = np.maximum(v_target, v_ego + overshoot_allowance)
-      elif ((self.v_pid < CS.v_ego - overshoot_allowance) and
+      elif ((self.v_pid < v_ego - overshoot_allowance) and
           (v_target > self.v_pid)):
-        self.v_pid = np.minimum(v_target, CS.v_ego - overshoot_allowance)
+        self.v_pid = np.minimum(v_target, v_ego - overshoot_allowance)
 
       # move v_pid no faster than allowed accel limits
       if (v_target > self.v_pid + max_speed_delta_up):
@@ -206,27 +206,29 @@ class LongControl(object):
         self.v_pid = v_target
 
       # to avoid too much wind up on acceleration, limit positive speed error
-      if not CS.brake_only:
+      if not VP.brake_only:
-        max_speed_error = np.interp(CS.v_ego, max_speed_error_bp, max_speed_error_v)
+        max_speed_error = np.interp(v_ego, max_speed_error_bp, max_speed_error_v)
-        self.v_pid = np.minimum(self.v_pid, CS.v_ego + max_speed_error)
+        self.v_pid = np.minimum(self.v_pid, v_ego + max_speed_error)
 
-      output_gb, self.Up_accel_cmd, self.Ui_accel_cmd, self.long_control_sat = pid_long_control(CS.v_ego, self.v_pid, \
+      # TODO: removed anti windup on gear change, does it matter?
-                                  self.Ui_accel_cmd, gas_max, brake_max, jerk_factor, CS.gear, rate)
+      output_gb, self.Up_accel_cmd, self.Ui_accel_cmd, self.long_control_sat = pid_long_control(v_ego, self.v_pid, \
+                                  self.Ui_accel_cmd, gas_max, brake_max, jerk_factor, 0, rate)
     # intention is to stop, switch to a different brake control until we stop
     elif self.long_control_state == LongCtrlState.stopping:
-      if CS.v_ego > 0. or output_gb > -brake_stopping_target or not CS.standstill:
+      if v_ego > 0. or output_gb > -brake_stopping_target:
         output_gb -= stopping_brake_rate/rate
       output_gb = np.clip(output_gb, -brake_max, gas_max)
-      self.v_pid = CS.v_ego
+      self.v_pid = v_ego
       self.Ui_accel_cmd = 0.
     # intention is to move again, release brake fast before handling control to PID
     elif self.long_control_state == LongCtrlState.starting:
       if output_gb < -0.2:
         output_gb += starting_brake_rate/rate
-      self.v_pid = CS.v_ego
+      self.v_pid = v_ego
       self.Ui_accel_cmd = starting_Ui
 
     self.last_output_gb = output_gb
     final_gas = np.clip(output_gb, 0., gas_max)
     final_brake = -np.clip(output_gb, -brake_max, 0.)
     return final_gas, final_brake
+

selfdrive/controls/radard.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+import os
 import zmq
 import numpy as np
 import numpy.matlib
@@ -9,7 +10,6 @@ from fastcluster import linkage_vector
 import selfdrive.messaging as messaging
 from selfdrive.boardd.boardd import can_capnp_to_can_list_old
 from selfdrive.controls.lib.latcontrol import calc_lookahead_offset
-from selfdrive.controls.lib.can_parser import CANParser
 from selfdrive.controls.lib.pathplanner import PathPlanner
 from selfdrive.config import VehicleParams
 from selfdrive.controls.lib.radar_helpers import Track, Cluster, fcluster, RDR_TO_LDR
@@ -18,10 +18,16 @@ from common.services import service_list
 from common.realtime import sec_since_boot, set_realtime_priority, Ratekeeper
 from common.kalman.ekf import EKF, SimpleSensor
 
+radar_type = os.getenv("RADAR")
+if radar_type is not None:
+  exec('from selfdrive.radar.'+car_type+'.interface import RadarInterface')
+else:
+  from selfdrive.radar.nidec.interface import RadarInterface
+
 #vision point
 DIMSV = 2
 XV, SPEEDV = 0, 1
-VISION_POINT = 1
+VISION_POINT = -1
 
 class EKFV1D(EKF):
   def __init__(self):
@@ -41,30 +47,6 @@ class EKFV1D(EKF):
     return tf, tfj
 
 
-# nidec radar decoding
-def nidec_decode(cp, ar_pts):
-  for ii in cp.msgs_upd:
-    # filter points with very big distance, as fff (~255) is invalid. FIXME: use VAL tables from dbc
-    if cp.vl[ii]['LONG_DIST'] < 255:
-      ar_pts[ii] = [cp.vl[ii]['LONG_DIST'] + RDR_TO_LDR,
-                    -cp.vl[ii]['LAT_DIST'], cp.vl[ii]['REL_SPEED'], np.nan,
-                    cp.ts[ii], cp.vl[ii]['NEW_TRACK'], cp.ct[ii]]
-    elif ii in ar_pts:
-      del ar_pts[ii]
-  return ar_pts
-
-
-def _create_radard_can_parser():
-  dbc_f = 'acura_ilx_2016_nidec.dbc'
-  radar_messages = range(0x430, 0x43A) + range(0x440, 0x446)
-  signals = zip(['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
-                ['REL_SPEED'] * 16, radar_messages * 4,
-                [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
-  checks = zip(radar_messages, [20]*16)
-
-  return CANParser(dbc_f, signals, checks)
-
-
 # fuses camera and radar data for best lead detection
 def radard_thread(gctx=None):
   set_realtime_priority(1)
@@ -73,10 +55,10 @@ def radard_thread(gctx=None):
 
   # *** subscribe to features and model from visiond
   model = messaging.sub_sock(context, service_list['model'].port)
-  logcan = messaging.sub_sock(context, service_list['can'].port)
   live100 = messaging.sub_sock(context, service_list['live100'].port)
 
   PP = PathPlanner(model)
+  RI = RadarInterface()
 
   # *** publish live20 and liveTracks
   live20 = messaging.pub_sock(context, service_list['live20'].port)
@@ -84,9 +66,8 @@ def radard_thread(gctx=None):
 
   # subscribe to stats about the car
   # TODO: move this to new style packet
-  VP = VehicleParams(False)  # same for ILX and civic
+  VP = VehicleParams(False, False)  # same for ILX and civic
 
-  ar_pts = {}
   path_x = np.arange(0.0, 140.0, 0.1)    # 140 meters is max
 
   # Time-alignment
@@ -100,9 +81,6 @@ def radard_thread(gctx=None):
 
   tracks = defaultdict(dict)
 
-  # Nidec
-  cp = _create_radard_can_parser()
-
   # Kalman filter stuff: 
   ekfv = EKFV1D()
   speedSensorV = SimpleSensor(XV, 1, 2)
@@ -114,23 +92,11 @@ def radard_thread(gctx=None):
 
   rk = Ratekeeper(rate, print_delay_threshold=np.inf)
   while 1:
-    canMonoTimes = []
+    rr = RI.update()
-    can_pub_radar = []
-    for a in messaging.drain_sock(logcan, wait_for_one=True):
-      canMonoTimes.append(a.logMonoTime)
-      can_pub_radar.extend(can_capnp_to_can_list_old(a, [1, 3]))
-
-    # only run on the 0x445 packets, used for timing
-    if not any(x[0] == 0x445 for x in can_pub_radar):
-      continue
-
-    cp.update_can(can_pub_radar)
-
-    if not cp.can_valid:
-      # TODO: handle this
-      pass
 
-    ar_pts = nidec_decode(cp, ar_pts)
+    ar_pts = {}
+    for pt in rr.points:
+      ar_pts[pt.trackId] = [pt.dRel + RDR_TO_LDR, pt.yRel, pt.vRel, pt.aRel, None, False, None]
 
     # receive the live100s
     l100 = messaging.recv_sock(live100)
@@ -184,7 +150,7 @@ def radard_thread(gctx=None):
       v_ego_t_aligned = np.interp(cur_time - rdr_delay, v_ego_array[1], v_ego_array[0])
       d_path = np.sqrt(np.amin((path_x - rpt[0]) ** 2 + (path_y - rpt[1]) ** 2))
 
-      # create the track
+      # create the track if it doesn't exist or it's a new track
       if ids not in tracks or rpt[5] == 1:
         tracks[ids] = Track()
       tracks[ids].update(rpt[0], rpt[1], rpt[2], d_path, v_ego_t_aligned)
@@ -246,7 +212,7 @@ def radard_thread(gctx=None):
     dat = messaging.new_message()
     dat.init('live20')
     dat.live20.mdMonoTime = PP.logMonoTime
-    dat.live20.canMonoTimes = canMonoTimes
+    dat.live20.canMonoTimes = list(rr.canMonoTimes)
     if lead_len > 0:
       lead_clusters[0].toLive20(dat.live20.leadOne)
       if lead2_len > 0:

selfdrive/loggerd/uploader.py

@@ -84,6 +84,8 @@ class Uploader(object):
       cloudlog.exception("clean_dirs failed")
 
   def gen_upload_files(self):
+    if not os.path.isdir(self.root):
+      return
     for logname in listdir_by_creation_date(self.root):
       path = os.path.join(self.root, logname)
       names = os.listdir(path)

selfdrive/manager.py

@@ -29,7 +29,6 @@ managed_processes = {
   "calibrationd": "selfdrive.calibrationd.calibrationd",
   "loggerd": "selfdrive.loggerd.loggerd",
   "logmessaged": "selfdrive.logmessaged",
-  #"boardd": "selfdrive.boardd.boardd",
   "logcatd": ("logcatd", ["./logcatd"]),
   "boardd": ("boardd", ["./boardd"]),   # switch to c++ boardd
   "ui": ("ui", ["./ui"]),
@@ -38,7 +37,13 @@ managed_processes = {
 
 running = {}
 
-car_started_processes = ['controlsd', 'loggerd', 'visiond', 'sensord', 'radard', 'calibrationd']
+# due to qualcomm kernel bugs SIGKILLing visiond sometimes causes page table corruption
+unkillable_processes = ['visiond']
+
+# processes to end with SIGINT instead of SIGTERM
+interrupt_processes = ['loggerd']
+
+car_started_processes = ['controlsd', 'loggerd', 'sensord', 'radard', 'calibrationd', 'visiond']
 
 
 # ****************** process management functions ******************
@@ -91,15 +96,30 @@ def kill_managed_process(name):
   if name not in running or name not in managed_processes:
     return
   cloudlog.info("killing %s" % name)
-  running[name].terminate()
+
+  if name in interrupt_processes:
+    os.kill(running[name].pid, signal.SIGINT)
+  else:
+    running[name].terminate()
+
+
+  # give it 5 seconds to die
   running[name].join(5.0)
   if running[name].exitcode is None:
-    cloudlog.info("killing %s with SIGKILL" % name)
+    if name in unkillable_processes:
-    os.kill(running[name].pid, signal.SIGKILL)
+      cloudlog.critical("unkillable process %s failed to exit! rebooting in 15 if it doesn't die" % name)
-    running[name].join()
+      running[name].join(15.0)
-    cloudlog.info("%s is finally dead" % name)
+      if running[name].exitcode is None:
-  else:
+        cloudlog.critical("FORCE REBOOTING PHONE!")
-    cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
+        os.system("date > /sdcard/unkillable_reboot")
+        os.system("reboot")
+        raise RuntimeError
+    else:
+      cloudlog.info("killing %s with SIGKILL" % name)
+      os.kill(running[name].pid, signal.SIGKILL)
+      running[name].join()
+
+  cloudlog.info("%s is dead with %d" % (name, running[name].exitcode))
   del running[name]
 
 def cleanup_all_processes(signal, frame):
@@ -125,6 +145,7 @@ def manager_init():
   os.environ['DONGLE_SECRET'] = dongle_secret
 
   cloudlog.bind_global(dongle_id=dongle_id)
+  common.crash.bind_user(dongle_id=dongle_id)
 
   # set gctx
   gctx = {
@@ -152,8 +173,9 @@ def manager_thread():
   start_managed_process("uploader")
   start_managed_process("ui")
 
-  # *** wait for the board ***
+  if os.getenv("NOBOARD") is None:
-  wait_for_device()
+    # *** wait for the board ***
+    wait_for_device()
 
   # flash the device
   if os.getenv("NOPROG") is None:
@@ -188,12 +210,13 @@ def manager_thread():
       start_managed_process("uploader")
 
     # start constellation of processes when the car starts
-    if td.health.started:
+    if not os.getenv("STARTALL"):
-      for p in car_started_processes:
+      if td.health.started:
-        start_managed_process(p)
+        for p in car_started_processes:
-    else:
+          start_managed_process(p)
-      for p in car_started_processes:
+      else:
-        kill_managed_process(p)
+        for p in car_started_processes:
+          kill_managed_process(p)
 
     # check the status of all processes, did any of them die?
     for p in running:
@@ -257,6 +280,8 @@ def wait_for_device():
 def main():
   if os.getenv("NOLOG") is not None:
     del managed_processes['loggerd']
+  if os.getenv("NOUPLOAD") is not None:
+    del managed_processes['uploader']
   if os.getenv("NOBOARD") is not None:
     del managed_processes['boardd']
 

selfdrive/radar/nidec/interface.py

@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+import numpy as np
+from selfdrive.car.honda.can_parser import CANParser
+from selfdrive.boardd.boardd import can_capnp_to_can_list_old
+
+from cereal import car
+
+import zmq
+from common.services import service_list
+import selfdrive.messaging as messaging
+
+def _create_radard_can_parser():
+  dbc_f = 'acura_ilx_2016_nidec.dbc'
+  radar_messages = range(0x430, 0x43A) + range(0x440, 0x446)
+  signals = zip(['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
+                ['REL_SPEED'] * 16, radar_messages * 4,
+                [255] * 16 + [1] * 16 + [0] * 16 + [0] * 16)
+  checks = zip(radar_messages, [20]*16)
+
+  return CANParser(dbc_f, signals, checks)
+
+class RadarInterface(object):
+  def __init__(self):
+    # radar
+    self.pts = {}
+    self.track_id = 0
+
+    # Nidec
+    self.rcp = _create_radard_can_parser()
+
+    context = zmq.Context()
+    self.logcan = messaging.sub_sock(context, service_list['can'].port)
+
+  def update(self):
+    canMonoTimes = []
+    can_pub_radar = []
+
+    # TODO: can hang if no packets show up
+    while 1:
+      for a in messaging.drain_sock(self.logcan, wait_for_one=True):
+        canMonoTimes.append(a.logMonoTime)
+        can_pub_radar.extend(can_capnp_to_can_list_old(a.can, [1, 3]))
+
+      # only run on the 0x445 packets, used for timing
+      if any(x[0] == 0x445 for x in can_pub_radar):
+        break
+
+    self.rcp.update_can(can_pub_radar)
+
+    ret = car.RadarState.new_message()
+    errors = []
+    if not self.rcp.can_valid:
+      errors.append("notValid")
+    ret.errors = errors
+    ret.canMonoTimes = canMonoTimes
+
+    for ii in self.rcp.msgs_upd:
+      cpt = self.rcp.vl[ii]
+      if cpt['LONG_DIST'] < 255:
+        if ii not in self.pts or cpt['NEW_TRACK']:
+          self.pts[ii] = car.RadarState.RadarPoint.new_message()
+          self.pts[ii].trackId = self.track_id
+          self.track_id += 1
+        self.pts[ii].dRel = cpt['LONG_DIST']  # from front of car
+        self.pts[ii].yRel = -cpt['LAT_DIST']  # in car frame's y axis, left is positive
+        self.pts[ii].vRel = cpt['REL_SPEED']
+        self.pts[ii].aRel = float('nan')
+        self.pts[ii].yvRel = float('nan')
+      else:
+        if ii in self.pts:
+          del self.pts[ii]
+
+    ret.points = self.pts.values()
+    return ret
+
+if __name__ == "__main__":
+  RI = RadarInterface()
+  while 1:
+    ret = RI.update()
+    print(chr(27) + "[2J")
+    print ret
+
+

selfdrive/test/plant/maneuver.py

@@ -0,0 +1,71 @@
+import os
+from enum import Enum
+from maneuverplots import ManeuverPlot
+from plant import Plant
+import numpy as np
+
+
+class Maneuver(object):
+  def __init__(self, title, duration, **kwargs):
+    # Was tempted to make a builder class
+    self.distance_lead = kwargs.get("initial_distance_lead", 200.0)
+    self.speed = kwargs.get("initial_speed", 0.0)
+    self.lead_relevancy = kwargs.get("lead_relevancy", 0) 
+
+    self.grade_values = kwargs.get("grade_values", [0.0, 0.0])
+    self.grade_breakpoints = kwargs.get("grade_breakpoints", [0.0, duration])
+    self.speed_lead_values = kwargs.get("speed_lead_values", [0.0, 0.0])
+    self.speed_lead_breakpoints = kwargs.get("speed_lead_values", [0.0, duration])
+
+    self.cruise_button_presses = kwargs.get("cruise_button_presses", [])
+
+    self.duration = duration
+    self.title = title
+
+  def evaluate(self):
+    """runs the plant sim and returns (score, run_data)"""
+    plant = Plant(
+      lead_relevancy = self.lead_relevancy,
+      speed = self.speed,
+      distance_lead = self.distance_lead
+    )
+
+    last_live100 = None
+    event_queue = sorted(self.cruise_button_presses, key=lambda a: a[1])[::-1]
+    plot = ManeuverPlot(self.title)
+
+    buttons_sorted = sorted(self.cruise_button_presses, key=lambda a: a[1])
+    current_button = 0
+    while plant.current_time() < self.duration:
+      while buttons_sorted and plant.current_time() >= buttons_sorted[0][1]:
+        current_button = buttons_sorted[0][0]
+        buttons_sorted = buttons_sorted[1:]
+        print "current button changed to", current_button
+    
+      grade = np.interp(plant.current_time(), self.grade_breakpoints, self.grade_values)
+      speed_lead = np.interp(plant.current_time(), self.speed_lead_breakpoints, self.speed_lead_values)
+
+      distance, speed, acceleration, distance_lead, brake, gas, steer_torque, live100 = plant.step(speed_lead, current_button, grade)
+      if live100:
+        last_live100 = live100[-1]
+
+      d_rel = distance_lead - distance if self.lead_relevancy else 200. 
+      v_rel = speed_lead - speed if self.lead_relevancy else 0. 
+
+      if last_live100:
+        # print last_live100
+        #develop plots
+        plot.add_data(
+          time=plant.current_time(),
+          gas=gas, brake=brake, steer_torque=steer_torque,
+          distance=distance, speed=speed, acceleration=acceleration,
+          up_accel_cmd=last_live100.upAccelCmd, ui_accel_cmd=last_live100.uiAccelCmd,
+          d_rel=d_rel, v_rel=v_rel, v_lead=speed_lead,
+          v_target_lead=last_live100.vTargetLead, pid_speed=last_live100.vPid,
+          cruise_speed=last_live100.vCruise,
+          jerk_factor=last_live100.jerkFactor,
+          a_target_min=last_live100.aTargetMin, a_target_max=last_live100.aTargetMax)
+    
+    return (None, plot)
+
+

selfdrive/test/plant/maneuverplots.py

@@ -0,0 +1,139 @@
+import os
+
+import numpy as np
+import matplotlib.pyplot as plt
+import pylab
+
+from selfdrive.config import Conversions as CV
+
+class ManeuverPlot(object):
+  def __init__(self, title = None):
+    self.time_array = []
+
+    self.gas_array =  []
+    self.brake_array = []
+    self.steer_torque_array = []
+
+    self.distance_array = []
+    self.speed_array = []
+    self.acceleration_array = []
+
+    self.up_accel_cmd_array = []
+    self.ui_accel_cmd_array = []
+
+    self.d_rel_array = []
+    self.v_rel_array = []
+    self.v_lead_array = []
+    self.v_target_lead_array = []
+    self.pid_speed_array = []
+    self.cruise_speed_array = []
+    self.jerk_factor_array = []
+
+    self.a_target_min_array = []
+    self.a_target_max_array = []
+
+    self.v_target_array = []
+
+    self.title = title
+    
+  def add_data(self, time, gas, brake, steer_torque, distance, speed, 
+    acceleration, up_accel_cmd, ui_accel_cmd, d_rel, v_rel, v_lead, 
+    v_target_lead, pid_speed, cruise_speed, jerk_factor, a_target_min, 
+    a_target_max):
+    self.time_array.append(time)
+    self.gas_array.append(gas)
+    self.brake_array.append(brake)
+    self.steer_torque_array.append(steer_torque)
+    self.distance_array.append(distance)
+    self.speed_array.append(speed)
+    self.acceleration_array.append(acceleration)
+    self.up_accel_cmd_array.append(up_accel_cmd)
+    self.ui_accel_cmd_array.append(ui_accel_cmd)
+    self.d_rel_array.append(d_rel)
+    self.v_rel_array.append(v_rel)
+    self.v_lead_array.append(v_lead)
+    self.v_target_lead_array.append(v_target_lead)
+    self.pid_speed_array.append(pid_speed)
+    self.cruise_speed_array.append(cruise_speed)
+    self.jerk_factor_array.append(jerk_factor)
+    self.a_target_min_array.append(a_target_min)
+    self.a_target_max_array.append(a_target_max)
+
+  def write_plot(self, path, maneuver_name):
+    title = self.title or maneuver_name
+    # TODO: Missing plots from the old one:
+    # long_control_state
+    # proportional_gb, intergral_gb
+    if not os.path.exists(path + "/" + maneuver_name):
+      os.makedirs(path + "/" + maneuver_name)
+    plt_num = 0
+    
+    # speed chart ===================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.speed_array) * CV.MS_TO_MPH, 'r',
+      np.array(self.time_array), np.array(self.pid_speed_array) * CV.MS_TO_MPH, 'y--',
+      np.array(self.time_array), np.array(self.v_target_lead_array) * CV.MS_TO_MPH, 'b',
+      np.array(self.time_array), np.array(self.cruise_speed_array) * CV.KPH_TO_MPH, 'k',
+      np.array(self.time_array), np.array(self.v_lead_array) * CV.MS_TO_MPH, 'm'
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Speed [mph]')
+    plt.legend(['speed', 'pid speed', 'Target (lead) speed', 'Cruise speed', 'Lead speed'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'speeds.svg']), dpi=1000)
+
+    # acceleration chart ============
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.acceleration_array), 'g',
+      np.array(self.time_array), np.array(self.a_target_min_array), 'k--',
+      np.array(self.time_array), np.array(self.a_target_max_array), 'k--',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Acceleration [m/s^2]')
+    plt.legend(['accel', 'max', 'min'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'acceleration.svg']), dpi=1000)
+
+    # pedal chart ===================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.gas_array), 'g',
+      np.array(self.time_array), np.array(self.brake_array), 'r',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Pedal []')
+    plt.legend(['Gas pedal', 'Brake pedal'], loc=0)
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'pedals.svg']), dpi=1000)
+
+    # pid chart ======================
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.up_accel_cmd_array), 'g',
+      np.array(self.time_array), np.array(self.ui_accel_cmd_array), 'b'
+    )
+    plt.xlabel("Time, [s]")
+    plt.ylabel("Accel Cmd [m/s^2]")
+    plt.grid()
+    plt.legend(["Proportional", "Integral"], loc=0)
+    pylab.savefig("/".join([path, maneuver_name, "pid.svg"]), dpi=1000)
+
+    # relative distances chart =======
+    plt_num += 1
+    plt.figure(plt_num)
+    plt.plot(
+      np.array(self.time_array), np.array(self.d_rel_array), 'g',
+    )
+    plt.xlabel('Time [s]')
+    plt.ylabel('Relative Distance [m]')
+    plt.grid()
+    pylab.savefig("/".join([path, maneuver_name, 'distance.svg']), dpi=1000)
+
+    plt.close("all")
+

selfdrive/test/plant/plant.py

@@ -0,0 +1,275 @@
+#!/usr/bin/env python
+import os
+import struct
+
+import zmq
+import numpy as np
+
+from dbcs import DBC_PATH
+
+from common.realtime import Ratekeeper
+from common.services import service_list
+
+import selfdrive.messaging as messaging
+from selfdrive.config import CruiseButtons
+from selfdrive.car.honda.hondacan import fix
+from selfdrive.car.honda.carstate import get_can_parser
+from selfdrive.boardd.boardd import can_capnp_to_can_list_old, can_capnp_to_can_list, can_list_to_can_capnp
+
+from selfdrive.car.honda.can_parser import CANParser
+
+
+from common.dbc import dbc
+acura = dbc(os.path.join(DBC_PATH, "acura_ilx_2016_can.dbc"))
+
+def car_plant(pos, speed, grade, gas, brake):
+  # vehicle parameters
+  mass = 1700
+  aero_cd = 0.3
+  force_peak = mass*3.
+  force_brake_peak = -mass*10.     #1g
+  power_peak = 100000   # 100kW
+  speed_base = power_peak/force_peak
+  rolling_res = 0.01
+  g = 9.81
+  wheel_r = 0.31
+  frontal_area = 2.2
+  air_density = 1.225
+  gas_to_peak_linear_slope = 3.33
+  brake_to_peak_linear_slope = 0.2
+  creep_accel_v = [1., 0.]
+  creep_accel_bp = [0., 1.5]
+
+  #*** longitudinal model ***
+  # find speed where peak torque meets peak power
+  force_brake = brake * force_brake_peak * brake_to_peak_linear_slope
+  if speed < speed_base: # torque control
+    force_gas = gas * force_peak * gas_to_peak_linear_slope
+  else: # power control
+    force_gas = gas * power_peak / speed * gas_to_peak_linear_slope
+
+  force_grade = - grade * mass  # positive grade means uphill
+
+  creep_accel = np.interp(speed, creep_accel_bp, creep_accel_v)
+  force_creep = creep_accel * mass
+
+  force_resistance = -(rolling_res * mass * g + 0.5 * speed**2 * aero_cd * air_density)
+  force = force_gas + force_brake + force_resistance + force_grade + force_creep
+  acceleration = force / mass
+
+  # TODO: lateral model
+  return speed, acceleration
+
+def get_car_can_parser():
+  dbc_f = 'acura_ilx_2016_can.dbc'
+  signals = [
+    ("STEER_TORQUE", 0xe4, 0),
+    ("STEER_TORQUE_REQUEST", 0xe4, 0),
+    ("COMPUTER_BRAKE", 0x1fa, 0),
+    ("COMPUTER_BRAKE_REQUEST", 0x1fa, 0),
+    ("GAS_COMMAND", 0x200, 0),
+  ]
+  checks = [
+    (0xe4, 100),
+    (0x1fa, 50),
+    (0x200, 50),
+  ]
+  return CANParser(dbc_f, signals, checks)
+
+
+class Plant(object):
+  messaging_initialized = False
+
+  def __init__(self, lead_relevancy=False, rate=100, speed=0.0, distance_lead=2.0):
+    self.rate = rate
+    self.civic = False
+    self.brake_only = False
+
+    if not Plant.messaging_initialized:
+      context = zmq.Context()
+      Plant.logcan = messaging.pub_sock(context, service_list['can'].port)
+      Plant.sendcan = messaging.sub_sock(context, service_list['sendcan'].port)
+      Plant.model = messaging.pub_sock(context, service_list['model'].port)
+      Plant.live100 = messaging.sub_sock(context, service_list['live100'].port)
+      Plant.messaging_initialized = True
+
+    self.angle_steer = 0.
+    self.gear_choice = 0
+    self.speed, self.speed_prev = 0., 0.
+
+    self.esp_disabled = 0
+    self.main_on = 1
+    self.user_gas = 0
+    self.computer_brake,self.user_brake = 0,0
+    self.brake_pressed = 0
+    self.distance, self.distance_prev = 0., 0.
+    self.speed, self.speed_prev = speed, speed
+    self.steer_error, self.brake_error, self.steer_not_allowed = 0, 0, 0
+    self.gear_shifter = 4   # D gear
+    self.pedal_gas = 0
+    self.cruise_setting = 0
+
+    self.seatbelt, self.door_all_closed = True, True
+    self.steer_torque, self.v_cruise, self.acc_status = 0, 0, 0  # v_cruise is reported from can, not the one used for controls
+
+    self.lead_relevancy = lead_relevancy
+
+    # lead car
+    self.distance_lead, self.distance_lead_prev = distance_lead , distance_lead
+
+    self.rk = Ratekeeper(rate, print_delay_threshold=100)
+    self.ts = 1./rate
+
+    self.cp = get_car_can_parser()
+
+  def speed_sensor(self, speed):
+    if speed<0.3:
+      return 0
+    else:
+      return speed
+
+  def current_time(self):
+    return float(self.rk.frame) / self.rate
+
+  def step(self, v_lead=0.0, cruise_buttons=None, grade=0.0):
+    # dbc_f, sgs, ivs, msgs, cks_msgs, frqs = initialize_can_struct(self.civic, self.brake_only)
+    cp2 = get_can_parser(self.civic, self.brake_only)
+    sgs = cp2._sgs
+    msgs = cp2._msgs
+    cks_msgs = cp2.msgs_ck
+
+    # ******** get messages sent to the car ********
+    can_msgs = []
+    for a in messaging.drain_sock(Plant.sendcan):
+      can_msgs += can_capnp_to_can_list_old(a.sendcan, [0,2])
+    #print can_msgs
+    self.cp.update_can(can_msgs)
+
+    # ******** get live100 messages for plotting ***
+    live_msgs = []
+    for a in messaging.drain_sock(Plant.live100):
+      live_msgs.append(a.live100)
+
+
+    if self.cp.vl[0x1fa]['COMPUTER_BRAKE_REQUEST']:
+      brake = self.cp.vl[0x1fa]['COMPUTER_BRAKE']
+    else:
+      brake = 0.0
+
+    if self.cp.vl[0x200]['GAS_COMMAND'] > 0:
+      gas = self.cp.vl[0x200]['GAS_COMMAND'] / 256.0
+    else:
+      gas = 0.0
+
+    if self.cp.vl[0xe4]['STEER_TORQUE_REQUEST']:
+      steer_torque = self.cp.vl[0xe4]['STEER_TORQUE']*1.0/0xf00
+    else:
+      steer_torque = 0.0
+
+    distance_lead = self.distance_lead_prev + v_lead * self.ts
+
+    # ******** run the car ********
+    speed, acceleration = car_plant(self.distance_prev, self.speed_prev, grade, gas, brake)
+    standstill = (speed == 0)
+    distance = self.distance_prev + speed * self.ts
+    speed = self.speed_prev + self.ts * acceleration
+    if speed <= 0:
+      speed = 0
+      acceleration = 0
+
+    # ******** lateral ********
+    self.angle_steer -= steer_torque
+
+    # *** radar model ***
+    if self.lead_relevancy:
+      d_rel = np.maximum(0., self.distance_lead - distance)
+      v_rel = v_lead - speed
+    else:
+      d_rel = 200.
+      v_rel = 0.
+      a_rel = 0
+    lateral_pos_rel = 0.
+
+    # print at 5hz
+    if (self.rk.frame%(self.rate/5)) == 0:
+      print "%6.2f m  %6.2f m/s  %6.2f m/s2   %.2f ang   gas: %.2f  brake: %.2f  steer: %5.2f     lead_rel: %6.2f m  %6.2f m/s" % (distance, speed, acceleration, self.angle_steer, gas, brake, steer_torque, d_rel, v_rel)
+
+    # ******** publish the car ********
+    vls = [self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed), self.speed_sensor(speed),
+           self.angle_steer, 0, self.gear_choice, speed!=0,
+           0, 0, 0, 0,
+           self.v_cruise, not self.seatbelt, self.seatbelt, self.brake_pressed,
+           self.user_gas, cruise_buttons, self.esp_disabled, 0,
+           self.user_brake, self.steer_error, self.speed_sensor(speed), self.brake_error,
+           self.brake_error, self.gear_shifter, self.main_on, self.acc_status,
+           self.pedal_gas, self.cruise_setting,
+           # left_blinker, right_blinker, counter
+           0,0,0,
+           # interceptor_gas
+           0,0]
+
+
+    # TODO: publish each message at proper frequency
+    can_msgs = []
+    for msg in set(msgs):
+      msg_struct = {}
+      indxs = [i for i, x in enumerate(msgs) if msg == msgs[i]]
+      for i in indxs:
+        msg_struct[sgs[i]] = vls[i]
+      if msg in cks_msgs:
+        msg_struct["COUNTER"] = self.rk.frame % 4
+
+      msg_data = acura.encode(msg, msg_struct)
+
+      if msg in cks_msgs:
+        msg_data = fix(msg_data, msg)
+
+      can_msgs.append([msg, 0, msg_data, 0])
+
+    # add the radar message
+    # TODO: use the DBC
+    def to_3_byte(x):
+      return struct.pack("!H", int(x)).encode("hex")[1:]
+
+    def to_3s_byte(x):
+      return struct.pack("!h", int(x)).encode("hex")[1:]
+    radar_msg = to_3_byte(d_rel*16.0) + \
+                to_3_byte(int(lateral_pos_rel*16.0)&0x3ff) + \
+                to_3s_byte(int(v_rel*32.0)) + \
+                "0f00000"
+    can_msgs.append([0x445, 0, radar_msg.decode("hex"), 1])
+    Plant.logcan.send(can_list_to_can_capnp(can_msgs).to_bytes())
+
+    # ******** publish a fake model going straight ********
+    md = messaging.new_message()
+    md.init('model')
+    md.model.frameId = 0
+    for x in [md.model.path, md.model.leftLane, md.model.rightLane]:
+      x.points = [0.0]*50
+      x.prob = 1.0
+      x.std = 1.0
+    # fake values?
+    Plant.model.send(md.to_bytes())
+
+
+    # ******** update prevs ********
+    self.speed_prev = speed
+    self.distance_prev = distance
+    self.distance_lead_prev = distance_lead
+
+    self.rk.keep_time()
+    return (distance, speed, acceleration, distance_lead, brake, gas, steer_torque, live_msgs)
+
+# simple engage in standalone mode
+def plant_thread(rate=100):
+  plant = Plant(rate)
+  while 1:
+    if plant.rk.frame%100 >= 20 and plant.rk.frame%100 <= 25:
+      cruise_buttons = CruiseButtons.RES_ACCEL
+    else:
+      cruise_buttons = 0
+    plant.step()
+
+if __name__ == "__main__":
+  plant_thread()
+

selfdrive/test/plant/runtest.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+pushd ../../controls
+./controlsd.py &
+pid1=$!
+./radard.py &
+pid2=$!
+trap "trap - SIGTERM && kill $pid1 && kill $pid2" SIGINT SIGTERM EXIT
+popd
+mkdir -p out
+MPLBACKEND=svg ./runtracks.py out

selfdrive/test/plant/runtracks.py

@@ -0,0 +1,207 @@
+#!/usr/bin/env python
+import sys
+import time, json
+
+from selfdrive.test.plant import plant
+from selfdrive.config import Conversions as CV, CruiseButtons as CB
+from maneuver import *
+
+maneuvers = [
+  Maneuver(
+    'while cruising at 40 mph, change cruise speed to 50mph', 
+    duration=30.,
+    initial_speed = 40. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
+                             (CB.RES_ACCEL, 10.), (0, 10.1),
+                             (CB.RES_ACCEL, 10.2), (0, 10.3)]
+  ),
+  Maneuver(
+    'while cruising at 60 mph, change cruise speed to 50mph', 
+    duration=30., 
+    initial_speed=60. * CV.MPH_TO_MS,
+    cruise_button_presses = [(CB.DECEL_SET, 2.), (0, 2.3),
+                             (CB.DECEL_SET, 10.), (0, 10.1),
+                             (CB.DECEL_SET, 10.2), (0, 10.3)]
+  ),
+  Maneuver(
+    'while cruising at 20mph, grade change +10%', 
+    duration=25.,
+    initial_speed=20. * CV.MPH_TO_MS, 
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    grade_values = [0., 0., 1.0],
+    grade_breakpoints = [0., 10., 11.]
+  ),
+  Maneuver(
+    'while cruising at 20mph, grade change -10%', 
+    duration=25.,
+    initial_speed=20. * CV.MPH_TO_MS, 
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)],
+    grade_values = [0., 0., -1.0],
+    grade_breakpoints = [0., 10., 11.]
+  ),
+  Maneuver(
+    'approaching a 40mph car while cruising at 60mph from 100m away', 
+    duration=30., 
+    initial_speed = 60. * CV.MPH_TO_MS, 
+    lead_relevancy=True, 
+    initial_distance_lead=100., 
+    speed_lead_values = [40.*CV.MPH_TO_MS, 40.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 100.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
+  ),
+  Maneuver(
+    'approaching a 0mph car while cruising at 40mph from 150m away', 
+    duration=30., 
+    initial_speed = 40. * CV.MPH_TO_MS, 
+    lead_relevancy=True, 
+    initial_distance_lead=150., 
+    speed_lead_values = [0.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 100.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2', 
+    duration=50., 
+    initial_speed = 20., 
+    lead_relevancy=True, 
+    initial_distance_lead=35., 
+    speed_lead_values = [20.*CV.MPH_TO_MS, 20.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 15., 35.0],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
+  ),
+  Maneuver(
+    'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2', 
+    duration=50., 
+    initial_speed = 20., 
+    lead_relevancy=True, 
+    initial_distance_lead=35., 
+    speed_lead_values = [20.*CV.MPH_TO_MS, 20.*CV.MPH_TO_MS, 0.*CV.MPH_TO_MS],
+    speed_lead_breakpoints = [0., 15., 25.0],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3)]
+  ),
+  Maneuver(
+    'starting at 0mph, approaching a stopped car 100m away', 
+    duration=30., 
+    initial_speed = 0., 
+    lead_relevancy=True, 
+    initial_distance_lead=100., 
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7), 
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9)]
+  ),
+  Maneuver(
+    "following a car at 60mph, lead accel and decel at 0.5m/s^2 every 2s",
+    duration=25.,
+    initial_speed=30.,
+    lead_relevancy=True,
+    initial_distance_lead=49.,
+    speed_lead_values=[30.,30.,29.,31.,29.,31.,29.],
+    speed_lead_breakpoints=[0., 6., 8., 12.,16.,20.,24.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)]
+  ),
+  Maneuver(
+    "following a car at 10mph, stop and go at 1m/s2 lead dece1 and accel",
+    duration=70.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=20.,
+    speed_lead_values=[10., 0., 0., 10., 0.,10.],
+    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)]
+  ),
+  Maneuver(
+    "green light: stopped behind lead car, lead car accelerates at 1.5 m/s",
+    duration=30.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=4.,
+    speed_lead_values=[0,  0 , 45],
+    speed_lead_breakpoints=[0, 10., 40.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7), 
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9), 
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1), 
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)]
+  ),
+  Maneuver(
+    "stop and go with 1m/s2 lead decel and accel, with full stops",
+    duration=70.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=20.,
+    speed_lead_values=[10., 0., 0., 10., 0., 0.] ,
+    speed_lead_breakpoints=[10., 20., 30., 40., 50., 60.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7)] 
+  ),
+  Maneuver(
+    "accelerate from 20 while lead vehicle decelerates from 40 to 20 at 1m/s2",
+    duration=30.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=10.,
+    speed_lead_values=[20., 10.],
+    speed_lead_breakpoints=[1., 11.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7), 
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9), 
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1), 
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)]
+  ),
+  Maneuver(
+    "accelerate from 20 while lead vehicle decelerates from 40 to 0 at 2m/s2",
+    duration=30.,
+    initial_speed=10.,
+    lead_relevancy=True,
+    initial_distance_lead=10.,
+    speed_lead_values=[20., 0.],
+    speed_lead_breakpoints=[1., 11.],
+    cruise_button_presses = [(CB.DECEL_SET, 1.2), (0, 1.3),
+                             (CB.RES_ACCEL, 1.4), (0.0, 1.5), 
+                             (CB.RES_ACCEL, 1.6), (0.0, 1.7), 
+                             (CB.RES_ACCEL, 1.8), (0.0, 1.9), 
+                             (CB.RES_ACCEL, 2.0), (0.0, 2.1), 
+                             (CB.RES_ACCEL, 2.2), (0.0, 2.3)]
+  )
+]
+
+css_style = """
+.maneuver_title {
+  font-size: 24px;
+  text-align: center;
+}
+.maneuver_graph {
+  width: 100%;
+}
+"""
+
+def main(output_dir):
+  view_html = "<html><head><style>%s</style></head><body><table>" % (css_style,)
+  for i, man in enumerate(maneuvers):
+    view_html += "<tr><td class='maneuver_title' colspan=5><div>%s</div></td></tr><tr>" % (man.title,)
+    for c in ['distance.svg', 'speeds.svg', 'acceleration.svg', 'pedals.svg', 'pid.svg']:
+      view_html += "<td><img class='maneuver_graph' src='%s'/></td>" % (os.path.join("maneuver" + str(i+1).zfill(2), c), )
+    view_html += "</tr>"
+
+  with open(os.path.join(output_dir, "index.html"), "w") as f:
+    f.write(view_html)
+
+  for i, man in enumerate(maneuvers):
+    score, plot = man.evaluate()
+    plot.write_plot(output_dir, "maneuver" + str(i+1).zfill(2))
+
+if __name__ == "__main__":
+  if len(sys.argv) <= 1:
+    print "Usage:", sys.argv[0], "<output_dir>"
+    exit(1)
+
+  main(sys.argv[1])
+

selfdrive/ui/ui.c

@@ -134,9 +134,30 @@ typedef struct UIState {
 
   UIScene scene;
   
-
+  bool awake;
+  int awake_timeout;
 } UIState;
 
+static void set_awake(UIState *s, bool awake) {
+  if (awake) {
+    // 30 second timeout
+    s->awake_timeout = 30;
+  }
+  if (s->awake != awake) {
+    s->awake = awake;
+
+    // TODO: actually turn off the screen and not just the backlight
+    FILE *f = fopen("/sys/class/leds/lcd-backlight/brightness", "wb");
+    if (f != NULL) {
+      if (awake) {
+        fprintf(f, "205");
+      } else {
+        fprintf(f, "0");
+      }
+      fclose(f);
+    }
+  }
+}
 
 static bool activity_running() {
   return system("dumpsys activity activities | grep mFocusedActivity > /dev/null") == 0;
@@ -173,13 +194,13 @@ typedef struct Button {
 static const Button buttons[] = {
   {
     .label = "wifi",
-    .x = 400, .y = 700, .w = 250, .h = 250,
+    .x = 400, .y = 730, .w = 250, .h = 250,
     .pressed = wifi_pressed,
     .enabled = wifi_enabled,
   },
   {
     .label = "ap",
-    .x = 1300, .y = 700, .w = 250, .h = 250,
+    .x = 1300, .y = 730, .w = 250, .h = 250,
     .pressed = ap_pressed,
     .enabled = ap_enabled,
   }
@@ -380,6 +401,9 @@ static void ui_init(UIState *s) {
   glDisable(GL_DEPTH_TEST);
 
   assert(glGetError() == GL_NO_ERROR);
+
+  // set awake
+  set_awake(s, true);
 }
 
 
@@ -1123,7 +1147,7 @@ static void ui_update(UIState *s) {
         s->scene.v_cruise = datad.vCruise;
         s->scene.v_ego = datad.vEgo;
         s->scene.angle_steers = datad.angleSteers;
-        s->scene.engaged = (datad.hudLead == 1) || (datad.hudLead == 2);
+        s->scene.engaged = datad.enabled;
         // printf("recv %f\n", datad.vEgo);
 
         s->scene.frontview = datad.rearViewCam;
@@ -1197,6 +1221,12 @@ static void ui_update(UIState *s) {
     if (rx_bytes) free(rx_bytes);
     if (tx_bytes) free(tx_bytes);
 
+    // TODO: do this properly
+    system("git rev-parse --abbrev-ref HEAD > /tmp/git_branch");
+    char *git_branch = read_file("/tmp/git_branch");
+    system("git rev-parse --short HEAD > /tmp/git_commit");
+    char *git_commit = read_file("/tmp/git_commit");
+
     int pending = pending_uploads();
 
     // service call wifi 20  # getWifiEnabledState
@@ -1210,14 +1240,29 @@ static void ui_update(UIState *s) {
     s->board_connected = !system("lsusb | grep bbaa > /dev/null");
 
     snprintf(s->base_text, sizeof(s->base_text),
-             "serial: %s\n dongle id: %s\n battery: %s %s\npending: %d\nrx %.1fkiB/s tx %.1fkiB/s\nboard: %s",
+             "version: %s (%s)\nserial: %s\n dongle id: %s\n battery: %s %s\npending: %d\nrx %.1fkiB/s tx %.1fkiB/s\nboard: %s",
+             git_commit, git_branch,
              s->serial, s->dongle_id, bat_cap ? bat_cap : "(null)", bat_stat ? bat_stat : "(null)",
              pending, rx_rate / 1024.0, tx_rate / 1024.0, s->board_connected ? "found" : "NOT FOUND");
 
     if (bat_cap) free(bat_cap);
     if (bat_stat) free(bat_stat);
 
+    if (git_branch) free(git_branch);
+    if (git_commit) free(git_commit);
+
     s->last_base_update = ts;
+
+    if (s->awake_timeout > 0) {
+      s->awake_timeout--;
+    } else {
+      set_awake(s, false);
+    }
+  }
+
+  if (s->vision_connected) {
+    // always awake if vision is connected
+    set_awake(s, true);
   }
 
   if (!s->vision_connected) {
@@ -1226,16 +1271,20 @@ static void ui_update(UIState *s) {
     int touch_x = -1, touch_y = -1;
     err = touch_poll(&s->touch, &touch_x, &touch_y);
     if (err == 1) {
-      // press buttons
+      if (s->awake) {
-      for (int i=0; i<ARRAYSIZE(buttons); i++) {
+        // press buttons
-        const Button *b = &buttons[i];
+        for (int i=0; i<ARRAYSIZE(buttons); i++) {
-        if (touch_x >= b->x && touch_x < b->x+b->w
+          const Button *b = &buttons[i];
-            && touch_y >= b->y && touch_y < b->y+b->h) {
+          if (touch_x >= b->x && touch_x < b->x+b->w
-          if (b->pressed && !activity_running()) {
+              && touch_y >= b->y && touch_y < b->y+b->h) {
-            b->pressed();
+            if (b->pressed && !activity_running()) {
-            break;
+              b->pressed();
+              break;
+            }
           }
         }
+      } else {
+        set_awake(s, true);
       }
     }
   }

selfdrive/visiond/visiond

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:7896f5e614b47ba86ccc37dd620df36d84a5cc1cec54c2e06e919718a65980c5
+oid sha256:d271361951a73fb7f08754c55a6c0c8cfc5c828aadc54191fd0b59c3e8d4fe93
-size 14719536
+size 14719552