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from dataclasses import dataclass as _dataclass, field, is_dataclass |
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from enum import Enum, StrEnum as _StrEnum, auto |
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from typing import dataclass_transform, get_origin |
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AUTO_OBJ = object() |
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def auto_field(): |
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return AUTO_OBJ |
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@dataclass_transform() |
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def auto_dataclass(cls=None, /, **kwargs): |
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cls_annotations = cls.__dict__.get('__annotations__', {}) |
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for name, typ in cls_annotations.items(): |
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current_value = getattr(cls, name) |
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if current_value is AUTO_OBJ: |
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origin_typ = get_origin(typ) or typ |
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if isinstance(origin_typ, str): |
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raise TypeError(f"Forward references are not supported for auto_field: '{origin_typ}'. Use a default_factory with lambda instead.") |
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elif origin_typ in (int, float, str, bytes, list, tuple, bool) or is_dataclass(origin_typ): |
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setattr(cls, name, field(default_factory=origin_typ)) |
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elif issubclass(origin_typ, Enum): # first enum is the default |
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setattr(cls, name, field(default=next(iter(origin_typ)))) |
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else: |
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raise TypeError(f"Unsupported type for auto_field: {origin_typ}") |
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# TODO: use slots, this prevents accidentally setting attributes that don't exist |
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return _dataclass(cls, **kwargs) |
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class StrEnum(_StrEnum): |
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@staticmethod |
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def _generate_next_value_(name, *args): |
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# auto() defaults to name.lower() |
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return name |
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@auto_dataclass |
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class CarState: |
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# CAN health |
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canValid: bool = auto_field() # invalid counter/checksums |
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canTimeout: bool = auto_field() # CAN bus dropped out |
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canErrorCounter: int = auto_field() |
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# car speed |
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vEgo: float = auto_field() # best estimate of speed |
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aEgo: float = auto_field() # best estimate of acceleration |
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vEgoRaw: float = auto_field() # unfiltered speed from CAN sensors |
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vEgoCluster: float = auto_field() # best estimate of speed shown on car's instrument cluster, used for UI |
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yawRate: float = auto_field() # best estimate of yaw rate |
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standstill: bool = auto_field() |
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wheelSpeeds: 'CarState.WheelSpeeds' = field(default_factory=lambda: CarState.WheelSpeeds()) |
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# gas pedal, 0.0-1.0 |
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gas: float = auto_field() # this is user pedal only |
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gasPressed: bool = auto_field() # this is user pedal only |
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engineRpm: float = auto_field() |
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# brake pedal, 0.0-1.0 |
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brake: float = auto_field() # this is user pedal only |
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brakePressed: bool = auto_field() # this is user pedal only |
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regenBraking: bool = auto_field() # this is user pedal only |
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parkingBrake: bool = auto_field() |
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brakeHoldActive: bool = auto_field() |
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# steering wheel |
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steeringAngleDeg: float = auto_field() |
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steeringAngleOffsetDeg: float = auto_field() # Offset betweens sensors in case there multiple |
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steeringRateDeg: float = auto_field() |
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steeringTorque: float = auto_field() # TODO: standardize units |
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steeringTorqueEps: float = auto_field() # TODO: standardize units |
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steeringPressed: bool = auto_field() # if the user is using the steering wheel |
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steerFaultTemporary: bool = auto_field() # temporary EPS fault |
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steerFaultPermanent: bool = auto_field() # permanent EPS fault |
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stockAeb: bool = auto_field() |
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stockFcw: bool = auto_field() |
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espDisabled: bool = auto_field() |
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accFaulted: bool = auto_field() |
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carFaultedNonCritical: bool = auto_field() # some ECU is faulted, but car remains controllable |
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espActive: bool = auto_field() |
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vehicleSensorsInvalid: bool = auto_field() # invalid steering angle readings, etc. |
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# cruise state |
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cruiseState: 'CarState.CruiseState' = field(default_factory=lambda: CarState.CruiseState()) |
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# gear |
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gearShifter: 'CarState.GearShifter' = field(default_factory=lambda: CarState.GearShifter.unknown) |
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# button presses |
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buttonEvents: list['CarState.ButtonEvent'] = auto_field() |
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leftBlinker: bool = auto_field() |
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rightBlinker: bool = auto_field() |
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genericToggle: bool = auto_field() |
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# lock info |
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doorOpen: bool = auto_field() |
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seatbeltUnlatched: bool = auto_field() |
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# clutch (manual transmission only) |
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clutchPressed: bool = auto_field() |
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# blindspot sensors |
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leftBlindspot: bool = auto_field() # Is there something blocking the left lane change |
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rightBlindspot: bool = auto_field() # Is there something blocking the right lane change |
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fuelGauge: float = auto_field() # battery or fuel tank level from 0.0 to 1.0 |
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charging: bool = auto_field() |
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# process meta |
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cumLagMs: float = auto_field() |
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@auto_dataclass |
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class WheelSpeeds: |
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# optional wheel speeds |
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fl: float = auto_field() |
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fr: float = auto_field() |
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rl: float = auto_field() |
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rr: float = auto_field() |
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@auto_dataclass |
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class CruiseState: |
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enabled: bool = auto_field() |
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speed: float = auto_field() |
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speedCluster: float = auto_field() # Set speed as shown on instrument cluster |
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available: bool = auto_field() |
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speedOffset: float = auto_field() |
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standstill: bool = auto_field() |
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nonAdaptive: bool = auto_field() |
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class GearShifter(StrEnum): |
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unknown = auto() |
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park = auto() |
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drive = auto() |
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neutral = auto() |
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reverse = auto() |
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sport = auto() |
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low = auto() |
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brake = auto() |
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eco = auto() |
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manumatic = auto() |
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# send on change |
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@auto_dataclass |
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class ButtonEvent: |
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pressed: bool = auto_field() |
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type: 'CarState.ButtonEvent.Type' = field(default_factory=lambda: CarState.ButtonEvent.Type.unknown) |
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class Type(StrEnum): |
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unknown = auto() |
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leftBlinker = auto() |
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rightBlinker = auto() |
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accelCruise = auto() |
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decelCruise = auto() |
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cancel = auto() |
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altButton1 = auto() |
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altButton2 = auto() |
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altButton3 = auto() |
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setCruise = auto() |
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resumeCruise = auto() |
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gapAdjustCruise = auto() |
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@auto_dataclass |
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class RadarData: |
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errors: list['Error'] = auto_field() |
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points: list['RadarPoint'] = auto_field() |
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class Error(StrEnum): |
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canError = auto() |
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fault = auto() |
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wrongConfig = auto() |
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@auto_dataclass |
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class RadarPoint: |
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trackId: int = auto_field() # no trackId reuse |
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# these 3 are the minimum required |
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dRel: float = auto_field() # m from the front bumper of the car |
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yRel: float = auto_field() # m |
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vRel: float = auto_field() # m/s |
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# these are optional and valid if they are not NaN |
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aRel: float = auto_field() # m/s^2 |
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yvRel: float = auto_field() # m/s |
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# some radars flag measurements VS estimates |
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measured: bool = auto_field() |
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@auto_dataclass |
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class CarControl: |
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# must be true for any actuator commands to work |
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enabled: bool = auto_field() |
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latActive: bool = auto_field() |
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longActive: bool = auto_field() |
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# Actuator commands as computed by controlsd |
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actuators: 'CarControl.Actuators' = field(default_factory=lambda: CarControl.Actuators()) |
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leftBlinker: bool = auto_field() |
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rightBlinker: bool = auto_field() |
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orientationNED: list[float] = auto_field() |
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angularVelocity: list[float] = auto_field() |
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cruiseControl: 'CarControl.CruiseControl' = field(default_factory=lambda: CarControl.CruiseControl()) |
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hudControl: 'CarControl.HUDControl' = field(default_factory=lambda: CarControl.HUDControl()) |
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@auto_dataclass |
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class Actuators: |
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# range from 0.0 - 1.0 |
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gas: float = auto_field() |
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brake: float = auto_field() |
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# range from -1.0 - 1.0 |
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steer: float = auto_field() |
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# value sent over can to the car |
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steerOutputCan: float = auto_field() |
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steeringAngleDeg: float = auto_field() |
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curvature: float = auto_field() |
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speed: float = auto_field() # m/s |
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accel: float = auto_field() # m/s^2 |
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longControlState: 'CarControl.Actuators.LongControlState' = field(default_factory=lambda: CarControl.Actuators.LongControlState.off) |
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class LongControlState(StrEnum): |
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off = auto() |
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pid = auto() |
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stopping = auto() |
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starting = auto() |
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@auto_dataclass |
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class CruiseControl: |
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cancel: bool = auto_field() |
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resume: bool = auto_field() |
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override: bool = auto_field() |
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@auto_dataclass |
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class HUDControl: |
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speedVisible: bool = auto_field() |
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setSpeed: float = auto_field() |
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lanesVisible: bool = auto_field() |
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leadVisible: bool = auto_field() |
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visualAlert: 'CarControl.HUDControl.VisualAlert' = field(default_factory=lambda: CarControl.HUDControl.VisualAlert.none) |
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audibleAlert: 'CarControl.HUDControl.AudibleAlert' = field(default_factory=lambda: CarControl.HUDControl.AudibleAlert.none) |
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rightLaneVisible: bool = auto_field() |
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leftLaneVisible: bool = auto_field() |
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rightLaneDepart: bool = auto_field() |
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leftLaneDepart: bool = auto_field() |
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leadDistanceBars: int = auto_field() # 1-3: 1 is closest, 3 is farthest. some ports may utilize 2-4 bars instead |
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class VisualAlert(StrEnum): |
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# these are the choices from the Honda |
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# map as good as you can for your car |
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none = auto() |
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fcw = auto() |
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steerRequired = auto() |
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brakePressed = auto() |
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wrongGear = auto() |
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seatbeltUnbuckled = auto() |
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speedTooHigh = auto() |
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ldw = auto() |
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class AudibleAlert(StrEnum): |
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none = auto() |
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engage = auto() |
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disengage = auto() |
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refuse = auto() |
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warningSoft = auto() |
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warningImmediate = auto() |
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prompt = auto() |
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promptRepeat = auto() |
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promptDistracted = auto() |
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@auto_dataclass |
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class CarParams: |
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carName: str = auto_field() |
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carFingerprint: str = auto_field() |
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fuzzyFingerprint: bool = auto_field() |
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notCar: bool = auto_field() # flag for non-car robotics platforms |
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pcmCruise: bool = auto_field() # is openpilot's state tied to the PCM's cruise state? |
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enableDsu: bool = auto_field() # driving support unit |
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enableBsm: bool = auto_field() # blind spot monitoring |
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flags: int = auto_field() # flags for car specific quirks |
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experimentalLongitudinalAvailable: bool = auto_field() |
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minEnableSpeed: float = auto_field() |
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minSteerSpeed: float = auto_field() |
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safetyConfigs: list['CarParams.SafetyConfig'] = auto_field() |
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alternativeExperience: int = auto_field() # panda flag for features like no disengage on gas |
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maxLateralAccel: float = auto_field() |
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autoResumeSng: bool = auto_field() # describes whether car can resume from a stop automatically |
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mass: float = auto_field() # [kg] curb weight: all fluids no cargo |
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wheelbase: float = auto_field() # [m] distance from rear axle to front axle |
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centerToFront: float = auto_field() # [m] distance from center of mass to front axle |
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steerRatio: float = auto_field() # [] ratio of steering wheel angle to front wheel angle |
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steerRatioRear: float = auto_field() # [] ratio of steering wheel angle to rear wheel angle (usually 0) |
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rotationalInertia: float = auto_field() # [kg*m2] body rotational inertia |
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tireStiffnessFactor: float = auto_field() # scaling factor used in calculating tireStiffness[Front,Rear] |
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tireStiffnessFront: float = auto_field() # [N/rad] front tire coeff of stiff |
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tireStiffnessRear: float = auto_field() # [N/rad] rear tire coeff of stiff |
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longitudinalTuning: 'CarParams.LongitudinalPIDTuning' = field(default_factory=lambda: CarParams.LongitudinalPIDTuning()) |
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lateralParams: 'CarParams.LateralParams' = field(default_factory=lambda: CarParams.LateralParams()) |
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lateralTuning: 'CarParams.LateralTuning' = field(default_factory=lambda: CarParams.LateralTuning()) |
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@auto_dataclass |
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class LateralTuning: |
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def init(self, which: str): |
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self.which = CarParams.LateralTuning.Which(which) |
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class Which(StrEnum): |
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pid = auto() |
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torque = auto() |
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def __call__(self): |
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return self.value |
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which: 'CarParams.LateralTuning.Which' = field(default_factory=lambda: CarParams.LateralTuning.Which.pid) |
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pid: 'CarParams.LateralPIDTuning' = field(default_factory=lambda: CarParams.LateralPIDTuning()) |
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torque: 'CarParams.LateralTorqueTuning' = field(default_factory=lambda: CarParams.LateralTorqueTuning()) |
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@auto_dataclass |
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class SafetyConfig: |
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safetyModel: 'CarParams.SafetyModel' = field(default_factory=lambda: CarParams.SafetyModel.silent) |
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safetyParam: int = auto_field() |
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@auto_dataclass |
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class LateralParams: |
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torqueBP: list[int] = auto_field() |
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torqueV: list[int] = auto_field() |
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@auto_dataclass |
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class LateralPIDTuning: |
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kpBP: list[float] = auto_field() |
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kpV: list[float] = auto_field() |
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kiBP: list[float] = auto_field() |
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kiV: list[float] = auto_field() |
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kf: float = auto_field() |
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@auto_dataclass |
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class LateralTorqueTuning: |
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useSteeringAngle: bool = auto_field() |
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kp: float = auto_field() |
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ki: float = auto_field() |
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friction: float = auto_field() |
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kf: float = auto_field() |
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steeringAngleDeadzoneDeg: float = auto_field() |
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latAccelFactor: float = auto_field() |
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latAccelOffset: float = auto_field() |
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steerLimitAlert: bool = auto_field() |
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steerLimitTimer: float = auto_field() # time before steerLimitAlert is issued |
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vEgoStopping: float = auto_field() # Speed at which the car goes into stopping state |
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vEgoStarting: float = auto_field() # Speed at which the car goes into starting state |
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stoppingControl: bool = auto_field() # Does the car allow full control even at lows speeds when stopping |
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steerControlType: 'CarParams.SteerControlType' = field(default_factory=lambda: CarParams.SteerControlType.torque) |
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radarUnavailable: bool = auto_field() # True when radar objects aren't visible on CAN or aren't parsed out |
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stopAccel: float = auto_field() # Required acceleration to keep vehicle stationary |
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stoppingDecelRate: float = auto_field() # m/s^2/s while trying to stop |
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startAccel: float = auto_field() # Required acceleration to get car moving |
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startingState: bool = auto_field() # Does this car make use of special starting state |
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steerActuatorDelay: float = auto_field() # Steering wheel actuator delay in seconds |
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longitudinalActuatorDelay: float = auto_field() # Gas/Brake actuator delay in seconds |
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openpilotLongitudinalControl: bool = auto_field() # is openpilot doing the longitudinal control? |
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carVin: str = auto_field() # VIN number queried during fingerprinting |
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dashcamOnly: bool = auto_field() |
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passive: bool = auto_field() # is openpilot in control? |
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transmissionType: 'CarParams.TransmissionType' = field(default_factory=lambda: CarParams.TransmissionType.unknown) |
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carFw: list['CarParams.CarFw'] = auto_field() |
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radarTimeStep: float = 0.05 # time delta between radar updates, 20Hz is very standard |
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fingerprintSource: 'CarParams.FingerprintSource' = field(default_factory=lambda: CarParams.FingerprintSource.can) |
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# Where Panda/C2 is integrated into the car's CAN network |
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networkLocation: 'CarParams.NetworkLocation' = field(default_factory=lambda: CarParams.NetworkLocation.fwdCamera) |
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wheelSpeedFactor: float = auto_field() # Multiplier on wheels speeds to computer actual speeds |
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@auto_dataclass |
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class LongitudinalPIDTuning: |
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kpBP: list[float] = auto_field() |
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kpV: list[float] = auto_field() |
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kiBP: list[float] = auto_field() |
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kiV: list[float] = auto_field() |
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kf: float = auto_field() |
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class SafetyModel(StrEnum): |
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silent = auto() |
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hondaNidec = auto() |
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toyota = auto() |
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elm327 = auto() |
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gm = auto() |
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hondaBoschGiraffe = auto() |
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ford = auto() |
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cadillac = auto() |
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hyundai = auto() |
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chrysler = auto() |
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tesla = auto() |
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subaru = auto() |
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gmPassive = auto() |
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mazda = auto() |
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nissan = auto() |
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volkswagen = auto() |
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toyotaIpas = auto() |
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allOutput = auto() |
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gmAscm = auto() |
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noOutput = auto() # like silent but without silent CAN TXs |
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hondaBosch = auto() |
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volkswagenPq = auto() |
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subaruPreglobal = auto() # pre-Global platform |
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hyundaiLegacy = auto() |
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hyundaiCommunity = auto() |
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volkswagenMlb = auto() |
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hongqi = auto() |
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body = auto() |
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hyundaiCanfd = auto() |
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volkswagenMqbEvo = auto() |
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chryslerCusw = auto() |
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psa = auto() |
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class SteerControlType(StrEnum): |
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torque = auto() |
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angle = auto() |
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class TransmissionType(StrEnum): |
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unknown = auto() |
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automatic = auto() # Traditional auto, including DSG |
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manual = auto() # True "stick shift" only |
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direct = auto() # Electric vehicle or other direct drive |
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cvt = auto() |
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@auto_dataclass |
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class CarFw: |
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ecu: 'CarParams.Ecu' = field(default_factory=lambda: CarParams.Ecu.unknown) |
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fwVersion: bytes = auto_field() |
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address: int = auto_field() |
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subAddress: int = auto_field() |
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responseAddress: int = auto_field() |
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request: list[bytes] = auto_field() |
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brand: str = auto_field() |
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bus: int = auto_field() |
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logging: bool = auto_field() |
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obdMultiplexing: bool = auto_field() |
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class Ecu(StrEnum): |
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eps = auto() |
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abs = auto() |
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fwdRadar = auto() |
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fwdCamera = auto() |
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engine = auto() |
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unknown = auto() |
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transmission = auto() # Transmission Control Module |
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hybrid = auto() # hybrid control unit, e.g. Chrysler's HCP, Honda's IMA Control Unit, Toyota's hybrid control computer |
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srs = auto() # airbag |
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gateway = auto() # can gateway |
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hud = auto() # heads up display |
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combinationMeter = auto() # instrument cluster |
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electricBrakeBooster = auto() |
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shiftByWire = auto() |
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adas = auto() |
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cornerRadar = auto() |
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hvac = auto() |
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parkingAdas = auto() # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc. |
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epb = auto() # electronic parking brake |
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telematics = auto() |
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body = auto() # body control module |
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# Toyota only |
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dsu = auto() |
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# Honda only |
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vsa = auto() # Vehicle Stability Assist |
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programmedFuelInjection = auto() |
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debug = auto() |
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class FingerprintSource(StrEnum): |
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can = auto() |
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fw = auto() |
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fixed = auto() |
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class NetworkLocation(StrEnum): |
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fwdCamera = auto() # Standard/default integration at LKAS camera |
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gateway = auto() # Integration at vehicle's CAN gateway |
Shane Smiskol
8 months ago
committed by
GitHub