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deprecate CP.enableCamera (#21509)

Browse Source 
* deprecate CP.enableCamera

* more removal

* one more

* update refs
old-commit-hash: c72d163e14
commatwo_master
Adeeb Shihadeh 4 years ago committed by GitHub
parent 9a6fa8aa6b
commit 691ea8553f
18 changed files with 82 additions and 123 deletions
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  1. 2
      cereal
  2. 2
      selfdrive/car/chrysler/interface.py
  3. 87
      selfdrive/car/ford/carcontroller.py
  4. 4
      selfdrive/car/ford/interface.py
  5. 3
      selfdrive/car/gm/interface.py
  6. 9
      selfdrive/car/honda/interface.py
  7. 1
      selfdrive/car/hyundai/interface.py
  8. 2
      selfdrive/car/mazda/interface.py
  9. 3
      selfdrive/car/nissan/interface.py
  10. 2
      selfdrive/car/subaru/interface.py
  11. 1
      selfdrive/car/tesla/interface.py
  12. 33
      selfdrive/car/toyota/carcontroller.py
  13. 6
      selfdrive/car/toyota/interface.py
  14. 40
      selfdrive/car/toyota/values.py
  15. 3
      selfdrive/car/volkswagen/interface.py
  16. 3
      selfdrive/controls/controlsd.py
  17. 2
      selfdrive/test/process_replay/ref_commit
  18. 2
      selfdrive/test/test_models.py

2
cereal

@ -1 +1 @@
Subproject commit fcecd9ba3a6b2b3662b37c7b4e0d679c08c2a03b
Subproject commit 96109a71b37d04b6848b46c660c1f13b542d5de8

2
selfdrive/car/chrysler/interface.py
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@ -49,8 +49,6 @@ class CarInterface(CarInterfaceBase):
# mass and CG position, so all cars will have approximately similar dyn behaviors
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
ret.enableCamera = True
ret.enableBsm = 720 in fingerprint[0]
return ret

87
selfdrive/car/ford/carcontroller.py
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@ -12,7 +12,6 @@ TOGGLE_DEBUG = False
class CarController():
def __init__(self, dbc_name, CP, VM):
self.packer = CANPacker(dbc_name)
self.enable_camera = CP.enableCamera
self.enabled_last = False
self.main_on_last = False
self.vehicle_model = VM
@ -27,63 +26,61 @@ class CarController():
apply_steer = actuators.steer
if self.enable_camera:
if pcm_cancel:
#print "CANCELING!!!!"
can_sends.append(spam_cancel_button(self.packer))
if pcm_cancel:
#print "CANCELING!!!!"
can_sends.append(spam_cancel_button(self.packer))
if (frame % 3) == 0:
if (frame % 3) == 0:
curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
curvature = self.vehicle_model.calc_curvature(actuators.steeringAngleDeg*math.pi/180., CS.out.vEgo)
# The use of the toggle below is handy for trying out the various LKAS modes
if TOGGLE_DEBUG:
self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
self.lkas_action &= 0xf
else:
self.lkas_action = 5 # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
# The use of the toggle below is handy for trying out the various LKAS modes
if TOGGLE_DEBUG:
self.lkas_action += int(CS.out.genericToggle and not self.generic_toggle_last)
self.lkas_action &= 0xf
else:
self.lkas_action = 5 # 4 and 5 seem the best. 8 and 9 seem to aggressive and laggy
can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
self.generic_toggle_last = CS.out.genericToggle
can_sends.append(create_steer_command(self.packer, apply_steer, enabled,
CS.lkas_state, CS.out.steeringAngleDeg, curvature, self.lkas_action))
self.generic_toggle_last = CS.out.genericToggle
if (frame % 100) == 0:
if (frame % 100) == 0:
can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
#can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
can_sends.append(make_can_msg(973, b'\x00\x00\x00\x00\x00\x00\x00\x00', 0))
#can_sends.append(make_can_msg(984, b'\x00\x00\x00\x00\x80\x45\x60\x30', 0))
if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
(self.steer_alert_last != steer_alert):
can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
if (frame % 100) == 0 or (self.enabled_last != enabled) or (self.main_on_last != CS.out.cruiseState.available) or \
(self.steer_alert_last != steer_alert):
can_sends.append(create_lkas_ui(self.packer, CS.out.cruiseState.available, enabled, steer_alert))
if (frame % 200) == 0:
can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
if (frame % 200) == 0:
can_sends.append(make_can_msg(1875, b'\x80\xb0\x55\x55\x78\x90\x00\x00', 1))
if (frame % 10) == 0:
if (frame % 10) == 0:
can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
can_sends.append(make_can_msg(1648, b'\x00\x00\x00\x40\x00\x00\x50\x00', 1))
can_sends.append(make_can_msg(1649, b'\x10\x10\xf1\x70\x04\x00\x00\x00', 1))
can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
can_sends.append(make_can_msg(1664, b'\x00\x00\x03\xe8\x00\x01\xa9\xb2', 1))
can_sends.append(make_can_msg(1674, b'\x08\x00\x00\xff\x0c\xfb\x6a\x08', 1))
can_sends.append(make_can_msg(1675, b'\x00\x00\x3b\x60\x37\x00\x00\x00', 1))
can_sends.append(make_can_msg(1690, b'\x70\x00\x00\x55\x86\x1c\xe0\x00', 1))
can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
can_sends.append(make_can_msg(1910, b'\x06\x4b\x06\x4b\x42\xd3\x11\x30', 1))
can_sends.append(make_can_msg(1911, b'\x48\x53\x37\x54\x48\x53\x37\x54', 1))
can_sends.append(make_can_msg(1912, b'\x31\x34\x47\x30\x38\x31\x43\x42', 1))
can_sends.append(make_can_msg(1913, b'\x31\x34\x47\x30\x38\x32\x43\x42', 1))
can_sends.append(make_can_msg(1969, b'\xf4\x40\x00\x00\x00\x00\x00\x00', 1))
can_sends.append(make_can_msg(1971, b'\x0b\xc0\x00\x00\x00\x00\x00\x00', 1))
static_msgs = range(1653, 1658)
for addr in static_msgs:
cnt = (frame % 10) + 1
can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
static_msgs = range(1653, 1658)
for addr in static_msgs:
cnt = (frame % 10) + 1
can_sends.append(make_can_msg(addr, (cnt << 4).to_bytes(1, 'little') + b'\x00\x00\x00\x00\x00\x00\x00', 1))
self.enabled_last = enabled
self.main_on_last = CS.out.cruiseState.available
self.steer_alert_last = steer_alert
self.enabled_last = enabled
self.main_on_last = CS.out.cruiseState.available
self.steer_alert_last = steer_alert
return can_sends

4
selfdrive/car/ford/interface.py
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@ -1,6 +1,5 @@
#!/usr/bin/env python3
from cereal import car
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.car.ford.values import MAX_ANGLE
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
@ -43,9 +42,6 @@ class CarInterface(CarInterfaceBase):
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.enableCamera = True
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
return ret
# returns a car.CarState

3
selfdrive/car/gm/interface.py
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@ -29,8 +29,7 @@ class CarInterface(CarInterfaceBase):
# Presence of a camera on the object bus is ok.
# Have to go to read_only if ASCM is online (ACC-enabled cars),
# or camera is on powertrain bus (LKA cars without ACC).
ret.enableCamera = True
ret.openpilotLongitudinalControl = ret.enableCamera
ret.openpilotLongitudinalControl = True
tire_stiffness_factor = 0.444 # not optimized yet
# Start with a baseline lateral tuning for all GM vehicles. Override tuning as needed in each model section below.

9
selfdrive/car/honda/interface.py
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@ -4,7 +4,6 @@ from cereal import car
from panda import Panda
from common.numpy_fast import clip, interp
from common.params import Params
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, HONDA_BOSCH_ALT_BRAKE_SIGNAL
from selfdrive.car.honda.hondacan import disable_radar
@ -131,7 +130,6 @@ class CarInterface(CarInterfaceBase):
if candidate in HONDA_BOSCH:
ret.safetyModel = car.CarParams.SafetyModel.hondaBoschHarness
ret.enableCamera = True
ret.radarOffCan = True
# Disable the radar and let openpilot control longitudinal
@ -142,9 +140,8 @@ class CarInterface(CarInterfaceBase):
ret.communityFeature = ret.openpilotLongitudinalControl
else:
ret.safetyModel = car.CarParams.SafetyModel.hondaNidec
ret.enableCamera = True
ret.enableGasInterceptor = 0x201 in fingerprint[0]
ret.openpilotLongitudinalControl = ret.enableCamera
ret.openpilotLongitudinalControl = True
ret.enableCruise = not ret.enableGasInterceptor
ret.communityFeature = ret.enableGasInterceptor
@ -156,10 +153,6 @@ class CarInterface(CarInterfaceBase):
if candidate == CAR.ACCORD and 0x191 in fingerprint[1]:
ret.transmissionType = TransmissionType.cvt
cloudlog.warning("ECU Camera Simulated: %r", ret.enableCamera)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
# Certain Hondas have an extra steering sensor at the bottom of the steering rack,
# which improves controls quality as it removes the steering column torsion from feedback.
# Tire stiffness factor fictitiously lower if it includes the steering column torsion effect.

1
selfdrive/car/hyundai/interface.py
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@ -250,7 +250,6 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = True
ret.enableBsm = 0x58b in fingerprint[0]
return ret

2
selfdrive/car/mazda/interface.py
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@ -73,8 +73,6 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = True
return ret
# returns a car.CarState

3
selfdrive/car/nissan/interface.py
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@ -24,7 +24,6 @@ class CarInterface(CarInterfaceBase):
ret.communityFeature = True
ret.steerLimitAlert = False
ret.enableCamera = True
ret.steerRateCost = 0.5
ret.steerActuatorDelay = 0.1
@ -46,7 +45,7 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.824
ret.centerToFront = ret.wheelbase * 0.44
ret.steerRatio = 17
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.radarOffCan = True

2
selfdrive/car/subaru/interface.py
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@ -28,8 +28,6 @@ class CarInterface(CarInterfaceBase):
ret.communityFeature = True
ret.dashcamOnly = candidate in PREGLOBAL_CARS
ret.enableCamera = True
ret.steerRateCost = 0.7
ret.steerLimitTimer = 0.4

1
selfdrive/car/tesla/interface.py
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@ -23,7 +23,6 @@ class CarInterface(CarInterfaceBase):
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.enableCamera = True
ret.openpilotLongitudinalControl = False
ret.communityFeature = True

33
selfdrive/car/toyota/carcontroller.py
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@ -4,7 +4,7 @@ from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_command,
from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
create_accel_command, create_acc_cancel_command, \
create_fcw_command, create_lta_steer_command
from selfdrive.car.toyota.values import Ecu, CAR, STATIC_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
from opendbc.can.packer import CANPacker
@ -36,12 +36,6 @@ class CarController():
self.steer_rate_limited = False
self.use_interceptor = False
self.fake_ecus = set()
if CP.enableCamera:
self.fake_ecus.add(Ecu.fwdCamera)
if CP.enableDsu:
self.fake_ecus.add(Ecu.dsu)
self.packer = CANPacker(dbc_name)
def update(self, enabled, CS, frame, actuators, pcm_cancel_cmd, hud_alert,
@ -104,18 +98,17 @@ class CarController():
# toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
# sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
# on consecutive messages
if Ecu.fwdCamera in self.fake_ecus:
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, frame))
if frame % 2 == 0 and CS.CP.carFingerprint in TSS2_CAR:
can_sends.append(create_lta_steer_command(self.packer, 0, 0, frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
# LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
# if frame % 2 == 0:
# can_sends.append(create_steer_command(self.packer, 0, 0, frame // 2))
# can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, frame // 2))
# we can spam can to cancel the system even if we are using lat only control
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or (pcm_cancel_cmd and Ecu.fwdCamera in self.fake_ecus):
if (frame % 3 == 0 and CS.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
lead = lead or CS.out.vEgo < 12. # at low speed we always assume the lead is present do ACC can be engaged
# Lexus IS uses a different cancellation message
@ -146,16 +139,16 @@ class CarController():
# forcing the pcm to disengage causes a bad fault sound so play a good sound instead
send_ui = True
if (frame % 100 == 0 or send_ui) and Ecu.fwdCamera in self.fake_ecus:
if (frame % 100 == 0 or send_ui):
can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, left_line, right_line, left_lane_depart, right_lane_depart))
if frame % 100 == 0 and Ecu.dsu in self.fake_ecus:
if frame % 100 == 0 and CS.CP.enableDsu:
can_sends.append(create_fcw_command(self.packer, fcw_alert))
#*** static msgs ***
for (addr, ecu, cars, bus, fr_step, vl) in STATIC_MSGS:
if frame % fr_step == 0 and ecu in self.fake_ecus and CS.CP.carFingerprint in cars:
for (addr, cars, bus, fr_step, vl) in STATIC_DSU_MSGS:
if frame % fr_step == 0 and CS.CP.enableDsu and CS.CP.carFingerprint in cars:
can_sends.append(make_can_msg(addr, vl, bus))
return can_sends

6
selfdrive/car/toyota/interface.py
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@ -3,7 +3,6 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import Ecu, CAR, TSS2_CAR, NO_DSU_CAR, MIN_ACC_SPEED, PEDAL_HYST_GAP, CarControllerParams
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.swaglog import cloudlog
from selfdrive.car.interfaces import CarInterfaceBase
EventName = car.CarEvent.EventName
@ -298,7 +297,6 @@ class CarInterface(CarInterfaceBase):
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
tire_stiffness_factor=tire_stiffness_factor)
ret.enableCamera = True
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
@ -307,9 +305,7 @@ class CarInterface(CarInterfaceBase):
ret.enableDsu = (len(found_ecus) > 0) and (Ecu.dsu not in found_ecus) and (candidate not in NO_DSU_CAR)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = ret.enableCamera and (smartDsu or ret.enableDsu or candidate in TSS2_CAR)
cloudlog.warning("ECU DSU Simulated: %r", ret.enableDsu)
cloudlog.warning("ECU Gas Interceptor: %r", ret.enableGasInterceptor)
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in TSS2_CAR
# min speed to enable ACC. if car can do stop and go, then set enabling speed
# to a negative value, so it won't matter.

40
selfdrive/car/toyota/values.py
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@ -59,26 +59,26 @@ class CAR:
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
ALPHARD_TSS2 = "TOYOTA ALPHARD 2020"
# addr: (ecu, cars, bus, 1/freq*100, vl)
STATIC_MSGS = [
(0x128, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'),
(0x160, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, Ecu.dsu, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, Ecu.dsu, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, Ecu.dsu, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, Ecu.dsu, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, Ecu.dsu, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, Ecu.dsu, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
# (addr, cars, bus, 1/freq*100, vl)
STATIC_DSU_MSGS = [
(0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1, 3, b'\xf4\x01\x90\x83\x00\x37'),
(0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 3, b'\x03\x00\x20\x00\x00\x52'),
(0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 2, b'\x00\x00\x00\x46'),
(0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 1, 7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
(0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX), 1, 7, b'\x00\x1e\x00\x00\x00\x80\x07'),
(0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
(0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 3, b'\x00\x00\x00\x00\x00\x00\x8c'),
(0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
(0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
(0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0, 20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
(0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
(0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x00\x80\x03\x00\x08'),
(0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x00\x00\x80\xfc\x00\x08'),
(0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0, 20, b'\x00\x00\x4d\x82\x40\x02\x00'),
(0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 20, b'\x00\x72\x07\xff\x09\xfe\x00'),
(0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
(0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1, 100, b'\x00\x00\x01\x79'),
(0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
]

3
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -1,5 +1,4 @@
from cereal import car
from selfdrive.swaglog import cloudlog
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, TransmissionType, GearShifter
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -41,7 +40,6 @@ class CarInterface(CarInterfaceBase):
else:
# No trans message at all, must be a true stick-shift manual
ret.transmissionType = TransmissionType.manual
cloudlog.info("Detected transmission type: %s", ret.transmissionType)
# Global tuning defaults, can be overridden per-vehicle
@ -129,7 +127,6 @@ class CarInterface(CarInterfaceBase):
ret.centerToFront = ret.wheelbase * 0.45
ret.enableCamera = True
ret.enableBsm = 0x30F in fingerprint[0]
# TODO: get actual value, for now starting with reasonable value for

3
selfdrive/controls/controlsd.py
Unescape View File

@ -96,8 +96,7 @@ class Controls:
car_recognized = self.CP.carName != 'mock'
# If stock camera is disconnected, we loaded car controls and it's not dashcam mode
controller_available = self.CP.enableCamera and self.CI.CC is not None and not passive and not self.CP.dashcamOnly
controller_available = self.CI.CC is not None and not passive and not self.CP.dashcamOnly
community_feature = self.CP.communityFeature or self.CP.fuzzyFingerprint or \
self.CP.fingerprintSource == car.CarParams.FingerprintSource.can
community_feature_disallowed = community_feature and (not community_feature_toggle)

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
999749c3955d504712564db3faf541f8c21c069d
abe59dfbc06ed070a3ac2f4ab587d311ef808e2e

2
selfdrive/test/test_models.py
Unescape View File

@ -90,8 +90,6 @@ class TestCarModel(unittest.TestCase):
elif tuning == 'indi':
self.assertTrue(len(self.CP.lateralTuning.indi.outerLoopGainV))
self.assertTrue(self.CP.enableCamera)
# TODO: check safetyModel is in release panda build
safety = libpandasafety_py.libpandasafety
set_status = safety.set_safety_hooks(self.CP.safetyModel.raw, self.CP.safetyParam)

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