From 251eee46644c7975d732cb557af419d211532895 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 29 Feb 2024 16:17:13 +0000 Subject: [PATCH 01/94] test_processes: fix unclosed file (#31644) --- selfdrive/test/process_replay/test_processes.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py index 2b917b0f61..88e46abb06 100755 --- a/selfdrive/test/process_replay/test_processes.py +++ b/selfdrive/test/process_replay/test_processes.py @@ -156,7 +156,8 @@ if __name__ == "__main__": assert full_test, "Need to run full test when updating refs" try: - ref_commit = open(REF_COMMIT_FN).read().strip() + with open(REF_COMMIT_FN) as f: + ref_commit = f.read().strip() except FileNotFoundError: print("Couldn't find reference commit") sys.exit(1) From f775faf26d555a99f43b74f8949aeb463d1d868e Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 13:42:11 -0500 Subject: [PATCH 02/94] carspecs: add more units (#31646) more units --- selfdrive/car/__init__.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index fe4bacd62f..c4b685f818 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -251,11 +251,11 @@ CarInfos = CarInfo | list[CarInfo] @dataclass(frozen=True, kw_only=True) class CarSpecs: mass: float # kg, curb weight - wheelbase: float + wheelbase: float # meters steerRatio: float centerToFrontRatio: float = 0.5 - minSteerSpeed: float = 0.0 - minEnableSpeed: float = -1.0 + minSteerSpeed: float = 0.0 # m/s + minEnableSpeed: float = -1.0 # m/s @dataclass(order=True) From 80807879de395ae87ae3bcd88cd83eaac24ca744 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 14:11:37 -0500 Subject: [PATCH 03/94] Tesla: move to platform config (#31648) tesla platform config --- selfdrive/car/tesla/interface.py | 10 +--------- selfdrive/car/tesla/values.py | 34 +++++++++++++++++++------------- 2 files changed, 21 insertions(+), 23 deletions(-) diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index e06139729c..537433a350 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from openpilot.selfdrive.car.tesla.values import CANBUS, CAR +from openpilot.selfdrive.car.tesla.values import CANBUS from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase @@ -41,14 +41,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.25 - if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS): - ret.mass = 2100. - ret.wheelbase = 2.959 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 15.0 - else: - raise ValueError(f"Unsupported car: {candidate}") - return ret def _update(self, c): diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 2a51d15da8..74d2debe1f 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,8 +1,8 @@ from collections import namedtuple -from enum import StrEnum +from dataclasses import dataclass, field from cereal import car -from openpilot.selfdrive.car import AngleRateLimit, dbc_dict +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -11,21 +11,23 @@ Ecu = car.CarParams.Ecu Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) -class CAR(StrEnum): - AP1_MODELS = 'TESLA AP1 MODEL S' - AP2_MODELS = 'TESLA AP2 MODEL S' +@dataclass +class TeslaPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can')) -CAR_INFO: dict[str, CarInfo | list[CarInfo]] = { - CAR.AP1_MODELS: CarInfo("Tesla AP1 Model S", "All"), - CAR.AP2_MODELS: CarInfo("Tesla AP2 Model S", "All"), -} - +class CAR(Platforms): + AP1_MODELS = TeslaPlatformConfig( + 'TESLA AP1 MODEL S', + CarInfo("Tesla AP1 Model S", "All"), + specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0) + ) + AP2_MODELS = TeslaPlatformConfig( + 'TESLA AP2 MODEL S', + CarInfo("Tesla AP2 Model S", "All"), + specs=AP1_MODELS.specs + ) -DBC = { - CAR.AP2_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), - CAR.AP1_MODELS: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can'), -} FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -88,3 +90,7 @@ class CarControllerParams: def __init__(self, CP): pass + + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() From e122f1d7498d5964066bcc6b3f63b7d215f6d591 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 14:14:00 -0500 Subject: [PATCH 04/94] Mazda: move to platform config (#31647) * mazda platform config * update ref --- selfdrive/car/mazda/carcontroller.py | 6 +- selfdrive/car/mazda/carstate.py | 6 +- selfdrive/car/mazda/interface.py | 17 ------ selfdrive/car/mazda/mazdacan.py | 10 +-- selfdrive/car/mazda/values.py | 77 +++++++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 6 files changed, 59 insertions(+), 59 deletions(-) diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py index 3f3b7a9494..8d3a59b4ea 100644 --- a/selfdrive/car/mazda/carcontroller.py +++ b/selfdrive/car/mazda/carcontroller.py @@ -36,13 +36,13 @@ class CarController(CarControllerBase): if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7): # Cancel Stock ACC if it's enabled while OP is disengaged # Send at a rate of 10hz until we sync with stock ACC state - can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL)) + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.CANCEL)) else: self.brake_counter = 0 if CC.cruiseControl.resume and self.frame % 5 == 0: # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds # Send Resume button when planner wants car to move - can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME)) + can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP, CS.crz_btns_counter, Buttons.RESUME)) self.apply_steer_last = apply_steer @@ -55,7 +55,7 @@ class CarController(CarControllerBase): can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required)) # send steering command - can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint, + can_sends.append(mazdacan.create_steering_control(self.packer, self.CP, self.frame, apply_steer, CS.cam_lkas)) new_actuators = CC.actuators.copy() diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py index c0819592d4..37a67ecd93 100644 --- a/selfdrive/car/mazda/carstate.py +++ b/selfdrive/car/mazda/carstate.py @@ -3,7 +3,7 @@ from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser from openpilot.selfdrive.car.interfaces import CarStateBase -from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1 +from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, MazdaFlags class CarState(CarStateBase): def __init__(self, CP): @@ -116,7 +116,7 @@ class CarState(CarStateBase): ("WHEEL_SPEEDS", 100), ] - if CP.carFingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: messages += [ ("ENGINE_DATA", 100), ("CRZ_CTRL", 50), @@ -136,7 +136,7 @@ class CarState(CarStateBase): def get_cam_can_parser(CP): messages = [] - if CP.carFingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: messages += [ # sig_address, frequency ("CAM_LANEINFO", 2), diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 7ac93d9dee..a138318b1a 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -24,23 +24,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.CX5, CAR.CX5_2022): - ret.mass = 3655 * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.steerRatio = 15.5 - elif candidate in (CAR.CX9, CAR.CX9_2021): - ret.mass = 4217 * CV.LB_TO_KG - ret.wheelbase = 3.1 - ret.steerRatio = 17.6 - elif candidate == CAR.MAZDA3: - ret.mass = 2875 * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.steerRatio = 14.0 - elif candidate == CAR.MAZDA6: - ret.mass = 3443 * CV.LB_TO_KG - ret.wheelbase = 2.83 - ret.steerRatio = 15.5 - if candidate not in (CAR.CX5_2022, ): ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py index e350c5587f..74f6af04c5 100644 --- a/selfdrive/car/mazda/mazdacan.py +++ b/selfdrive/car/mazda/mazdacan.py @@ -1,7 +1,7 @@ -from openpilot.selfdrive.car.mazda.values import GEN1, Buttons +from openpilot.selfdrive.car.mazda.values import Buttons, MazdaFlags -def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): +def create_steering_control(packer, CP, frame, apply_steer, lkas): tmp = apply_steer + 2048 @@ -45,7 +45,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas): csum = csum % 256 values = {} - if car_fingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: values = { "LKAS_REQUEST": apply_steer, "CTR": ctr, @@ -88,12 +88,12 @@ def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool) return packer.make_can_msg("CAM_LANEINFO", 0, values) -def create_button_cmd(packer, car_fingerprint, counter, button): +def create_button_cmd(packer, CP, counter, button): can = int(button == Buttons.CANCEL) res = int(button == Buttons.RESUME) - if car_fingerprint in GEN1: + if CP.flags & MazdaFlags.GEN1: values = { "CAN_OFF": can, "CAN_OFF_INV": (can + 1) % 2, diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index eaf76d6a72..246038bba3 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -1,8 +1,9 @@ from dataclasses import dataclass, field -from enum import StrEnum +from enum import IntFlag from cereal import car -from openpilot.selfdrive.car import dbc_dict +from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -25,29 +26,54 @@ class CarControllerParams: pass -class CAR(StrEnum): - CX5 = "MAZDA CX-5" - CX9 = "MAZDA CX-9" - MAZDA3 = "MAZDA 3" - MAZDA6 = "MAZDA 6" - CX9_2021 = "MAZDA CX-9 2021" - CX5_2022 = "MAZDA CX-5 2022" - - @dataclass class MazdaCarInfo(CarInfo): package: str = "All" car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) -CAR_INFO: dict[str, MazdaCarInfo | list[MazdaCarInfo]] = { - CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"), - CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"), - CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"), - CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"), - CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), - CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-24"), -} +class MazdaFlags(IntFlag): + # Gen 1 hardware: same CAN messages and same camera + GEN1 = 1 + + +@dataclass +class MazdaPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) + flags: int = field(default=MazdaFlags.GEN1) + + +class CAR(Platforms): + CX5 = MazdaPlatformConfig( + "MAZDA CX-5", + MazdaCarInfo("Mazda CX-5 2017-21"), + specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) + ) + CX9 = MazdaPlatformConfig( + "MAZDA CX-9", + MazdaCarInfo("Mazda CX-9 2016-20"), + specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) + ) + MAZDA3 = MazdaPlatformConfig( + "MAZDA 3", + MazdaCarInfo("Mazda 3 2017-18"), + specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) + ) + MAZDA6 = MazdaPlatformConfig( + "MAZDA 6", + MazdaCarInfo("Mazda 6 2017-20"), + specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) + ) + CX9_2021 = MazdaPlatformConfig( + "MAZDA CX-9 2021", + MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), + specs=CX9.specs + ) + CX5_2022 = MazdaPlatformConfig( + "MAZDA CX-5 2022", + MazdaCarInfo("Mazda CX-5 2022-24"), + specs=CX5.specs, + ) class LKAS_LIMITS: @@ -76,14 +102,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ) -DBC = { - CAR.CX5: dbc_dict('mazda_2017', None), - CAR.CX9: dbc_dict('mazda_2017', None), - CAR.MAZDA3: dbc_dict('mazda_2017', None), - CAR.MAZDA6: dbc_dict('mazda_2017', None), - CAR.CX9_2021: dbc_dict('mazda_2017', None), - CAR.CX5_2022: dbc_dict('mazda_2017', None), -} - -# Gen 1 hardware: same CAN messages and same camera -GEN1 = {CAR.CX5, CAR.CX9, CAR.CX9_2021, CAR.MAZDA3, CAR.MAZDA6, CAR.CX5_2022} +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 13f776fbad..3c29e9238b 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -b9d29ac9402cfc04bf3e48867415efa70c144029 +658699a6ba183bd97f161baa29cd4764b6bd2c30 From 5734d7c2bf13c217e469d37c4900321cba469121 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 14:29:40 -0500 Subject: [PATCH 05/94] Honda: move to platformconfig (#31637) * first * Fixes * not * not * Fixes * fix * cleanup + use sets for now * update ref * update ref --- selfdrive/car/__init__.py | 2 +- selfdrive/car/honda/values.py | 290 +++++++++++++++-------- selfdrive/car/tests/test_models.py | 6 +- selfdrive/test/process_replay/ref_commit | 2 +- 4 files changed, 191 insertions(+), 109 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c4b685f818..42cd135446 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -245,7 +245,7 @@ class CanSignalRateCalculator: return self.rate -CarInfos = CarInfo | list[CarInfo] +CarInfos = CarInfo | list[CarInfo] | None @dataclass(frozen=True, kw_only=True) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index ce4a531d01..2b11086405 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -1,10 +1,10 @@ from dataclasses import dataclass -from enum import Enum, IntFlag, StrEnum +from enum import Enum, IntFlag from cereal import car from openpilot.common.conversions import Conversions as CV from panda.python import uds -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 @@ -46,10 +46,21 @@ class CarControllerParams: class HondaFlags(IntFlag): + # Detected flags # Bosch models with alternate set of LKAS_HUD messages BOSCH_EXT_HUD = 1 BOSCH_ALT_BRAKE = 2 + # Static flags + BOSCH = 4 + BOSCH_RADARLESS = 8 + + NIDEC = 16 + NIDEC_ALT_PCM_ACCEL = 32 + NIDEC_ALT_SCM_MESSAGES = 64 + + AUTORESUME_SNG = 128 + ELECTRIC_PARKING_BRAKE = 256 # Car button codes class CruiseButtons: @@ -72,86 +83,181 @@ VISUAL_HUD = { } -class CAR(StrEnum): - ACCORD = "HONDA ACCORD 2018" - CIVIC = "HONDA CIVIC 2016" - CIVIC_BOSCH = "HONDA CIVIC (BOSCH) 2019" - CIVIC_BOSCH_DIESEL = "HONDA CIVIC SEDAN 1.6 DIESEL 2019" - CIVIC_2022 = "HONDA CIVIC 2022" - ACURA_ILX = "ACURA ILX 2016" - CRV = "HONDA CR-V 2016" - CRV_5G = "HONDA CR-V 2017" - CRV_EU = "HONDA CR-V EU 2016" - CRV_HYBRID = "HONDA CR-V HYBRID 2019" - FIT = "HONDA FIT 2018" - FREED = "HONDA FREED 2020" - HRV = "HONDA HRV 2019" - HRV_3G = "HONDA HR-V 2023" - ODYSSEY = "HONDA ODYSSEY 2018" - ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019" - ACURA_RDX = "ACURA RDX 2018" - ACURA_RDX_3G = "ACURA RDX 2020" - PILOT = "HONDA PILOT 2017" - RIDGELINE = "HONDA RIDGELINE 2017" - INSIGHT = "HONDA INSIGHT 2019" - HONDA_E = "HONDA E 2020" - - -class Footnote(Enum): - CIVIC_DIESEL = CarFootnote( - "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", - Column.FSR_STEERING) - - @dataclass class HondaCarInfo(CarInfo): package: str = "Honda Sensing" def init_make(self, CP: car.CarParams): - if CP.carFingerprint in HONDA_BOSCH: - self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) + if CP.flags & HondaFlags.BOSCH: + self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.flags & HondaFlags.BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a]) else: self.car_parts = CarParts.common([CarHarness.nidec]) -CAR_INFO: dict[str, HondaCarInfo | list[HondaCarInfo] | None] = { - CAR.ACCORD: [ - HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), - HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), - HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - ], - CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), - CAR.CIVIC_BOSCH: [ - HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", - footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), - HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), - ], - CAR.CIVIC_BOSCH_DIESEL: None, # same platform - CAR.CIVIC_2022: [ - HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), - HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), - ], - CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), - CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.CRV_EU: None, # HondaCarInfo("Honda CR-V EU", "Touring"), # Euro version of CRV Touring - CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"), - CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"), - CAR.ODYSSEY_CHN: None, # Chinese version of Odyssey - CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CAR.PILOT: [ - HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), - HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), - ], - CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), - CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), -} +class Footnote(Enum): + CIVIC_DIESEL = CarFootnote( + "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.", + Column.FSR_STEERING) + + +class HondaPlatformConfig(PlatformConfig): + def init(self): + if self.flags & HondaFlags.BOSCH: + self.flags |= HondaFlags.AUTORESUME_SNG + self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE + + +class CAR(Platforms): + # Bosch Cars + ACCORD = HondaPlatformConfig( + "HONDA ACCORD 2018", + [ + HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), + HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + ], + dbc_dict('honda_accord_2018_can_generated', None), + flags=HondaFlags.BOSCH, + ) + CIVIC_BOSCH = HondaPlatformConfig( + "HONDA CIVIC (BOSCH) 2019", + [ + HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", + footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), + HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), + ], + dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + flags=HondaFlags.BOSCH + ) + CIVIC_BOSCH_DIESEL = HondaPlatformConfig( + "HONDA CIVIC SEDAN 1.6 DIESEL 2019", + None, # don't show in docs + dbc_dict('honda_accord_2018_can_generated', None), + flags=HondaFlags.BOSCH + ) + CIVIC_2022 = HondaPlatformConfig( + "HONDA CIVIC 2022", + [ + HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), + ], + dbc_dict('honda_civic_ex_2022_can_generated', None), + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, + ) + CRV_5G = HondaPlatformConfig( + "HONDA CR-V 2017", + HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), + flags=HondaFlags.BOSCH, + ) + CRV_HYBRID = HondaPlatformConfig( + "HONDA CR-V HYBRID 2019", + HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_accord_2018_can_generated', None), + flags=HondaFlags.BOSCH + ) + HRV_3G = HondaPlatformConfig( + "HONDA HR-V 2023", + HondaCarInfo("Honda HR-V 2023", "All"), + dbc_dict('honda_civic_ex_2022_can_generated', None), + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS + ) + ACURA_RDX_3G = HondaPlatformConfig( + "ACURA RDX 2020", + HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2020_can_generated', None), + flags=HondaFlags.BOSCH + ) + INSIGHT = HondaPlatformConfig( + "HONDA INSIGHT 2019", + HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('honda_insight_ex_2019_can_generated', None), + flags=HondaFlags.BOSCH + ) + HONDA_E = HondaPlatformConfig( + "HONDA E 2020", + HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2020_can_generated', None), + flags=HondaFlags.BOSCH + ) + + # Nidec Cars + ACURA_ILX = HondaPlatformConfig( + "ACURA ILX 2016", + HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CRV = HondaPlatformConfig( + "HONDA CR-V 2016", + HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CRV_EU = HondaPlatformConfig( + "HONDA CR-V EU 2016", + None, # Euro version of CRV Touring, don't show in docs + dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + FIT = HondaPlatformConfig( + "HONDA FIT 2018", + HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + FREED = HondaPlatformConfig( + "HONDA FREED 2020", + HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + HRV = HondaPlatformConfig( + "HONDA HRV 2019", + HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + ODYSSEY = HondaPlatformConfig( + "HONDA ODYSSEY 2018", + HondaCarInfo("Honda Odyssey 2018-20"), + dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL + ) + ODYSSEY_CHN = HondaPlatformConfig( + "HONDA ODYSSEY CHN 2019", + None, # Chinese version of Odyssey, don't show in docs + dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES + ) + ACURA_RDX = HondaPlatformConfig( + "ACURA RDX 2018", + HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + PILOT = HondaPlatformConfig( + "HONDA PILOT 2017", + [ + HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), + HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), + ], + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + RIDGELINE = HondaPlatformConfig( + "HONDA RIDGELINE 2017", + HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), + dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + ) + CIVIC = HondaPlatformConfig( + "HONDA CIVIC 2016", + HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), + dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, + ) + HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(0xF112) @@ -217,40 +323,16 @@ FW_QUERY_CONFIG = FwQueryConfig( ) -DBC = { - CAR.ACCORD: dbc_dict('honda_accord_2018_can_generated', None), - CAR.ACURA_ILX: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.ACURA_RDX: dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.ACURA_RDX_3G: dbc_dict('acura_rdx_2020_can_generated', None), - CAR.CIVIC: dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CIVIC_BOSCH: dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), - CAR.CIVIC_BOSCH_DIESEL: dbc_dict('honda_accord_2018_can_generated', None), - CAR.CRV: dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CRV_5G: dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), - CAR.CRV_EU: dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.CRV_HYBRID: dbc_dict('honda_accord_2018_can_generated', None), - CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None), - CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), - CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), - CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.RIDGELINE: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - CAR.INSIGHT: dbc_dict('honda_insight_ex_2019_can_generated', None), - CAR.HONDA_E: dbc_dict('acura_rdx_2020_can_generated', None), - CAR.CIVIC_2022: dbc_dict('honda_civic_ex_2022_can_generated', None), -} - STEER_THRESHOLD = { # default is 1200, overrides go here CAR.ACURA_RDX: 400, CAR.CRV_EU: 400, } -HONDA_NIDEC_ALT_PCM_ACCEL = {CAR.ODYSSEY} -HONDA_NIDEC_ALT_SCM_MESSAGES = {CAR.ACURA_ILX, CAR.ACURA_RDX, CAR.CRV, CAR.CRV_EU, CAR.FIT, CAR.FREED, CAR.HRV, CAR.ODYSSEY_CHN, - CAR.PILOT, CAR.RIDGELINE} -HONDA_BOSCH = {CAR.ACCORD, CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CRV_5G, - CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G} -HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G} +HONDA_NIDEC_ALT_PCM_ACCEL = CAR.with_flags(HondaFlags.NIDEC_ALT_PCM_ACCEL) +HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES) +HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH) +HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py index 2b29c14f72..b7d20e5a83 100755 --- a/selfdrive/car/tests/test_models.py +++ b/selfdrive/car/tests/test_models.py @@ -17,7 +17,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.fingerprints import all_known_cars from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces -from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH +from openpilot.selfdrive.car.honda.values import CAR as HONDA, HondaFlags from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute from openpilot.selfdrive.controls.controlsd import Controls from openpilot.selfdrive.test.helpers import read_segment_list @@ -381,7 +381,7 @@ class TestCarModelBase(unittest.TestCase): if self.safety.get_vehicle_moving() != prev_panda_vehicle_moving: self.assertEqual(not CS.standstill, self.safety.get_vehicle_moving()) - if not (self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH): + if not (self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH)): if self.safety.get_cruise_engaged_prev() != prev_panda_cruise_engaged: self.assertEqual(CS.cruiseState.enabled, self.safety.get_cruise_engaged_prev()) @@ -442,7 +442,7 @@ class TestCarModelBase(unittest.TestCase): # On most pcmCruise cars, openpilot's state is always tied to the PCM's cruise state. # On Honda Nidec, we always engage on the rising edge of the PCM cruise state, but # openpilot brakes to zero even if the min ACC speed is non-zero (i.e. the PCM disengages). - if self.CP.carName == "honda" and self.CP.carFingerprint not in HONDA_BOSCH: + if self.CP.carName == "honda" and not (self.CP.flags & HondaFlags.BOSCH): # only the rising edges are expected to match if CS.cruiseState.enabled and not CS_prev.cruiseState.enabled: checks['controlsAllowed'] += not self.safety.get_controls_allowed() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 3c29e9238b..94674f05de 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -658699a6ba183bd97f161baa29cd4764b6bd2c30 +5aa0f4c0ab2cebccc3596aa8ef529fdb94a43643 From 7ec83c42f8229b37fb243d43004bbea22f0247c2 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 17:14:24 -0500 Subject: [PATCH 06/94] devcontainer improvements (#31650) --- .devcontainer/Dockerfile | 2 +- .devcontainer/devcontainer.json | 6 ++++-- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile index a24c524047..36bb6aa840 100644 --- a/.devcontainer/Dockerfile +++ b/.devcontainer/Dockerfile @@ -1,6 +1,6 @@ FROM ghcr.io/commaai/openpilot-base:latest -RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa +RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux wget mesa-utils xvfb libxtst6 libxv1 libglu1-mesa libegl1-mesa gdb RUN pip install ipython jupyter jupyterlab RUN cd /tmp && \ diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json index a7a63658ed..f1cfc82159 100644 --- a/.devcontainer/devcontainer.json +++ b/.devcontainer/devcontainer.json @@ -18,7 +18,6 @@ "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority", "--volume=${localEnv:HOME}/.comma:/home/batman/.comma", "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache", - "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache", "--shm-size=1G", "--add-host=host.docker.internal:host-gateway", // required to use host.docker.internal on linux "--publish=0.0.0.0:8070-8079:8070-8079" // body ZMQ services @@ -43,5 +42,8 @@ "lharri73.dbc" ] } - } + }, + "mounts": [ + "type=volume,source=scons_cache,target=/tmp/scons_cache" + ] } \ No newline at end of file From 5d291cb64d2ff925a13cbf0f783517642929917f Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Feb 2024 16:45:31 -0600 Subject: [PATCH 07/94] Subaru: group steer rate limited with GEN2 (#31640) * remove sideways diff * make a subclass * fix * fix --- selfdrive/car/subaru/values.py | 23 +++++++++++++++-------- 1 file changed, 15 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index a7c9a22e2c..90502bfad7 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -106,6 +106,15 @@ class SubaruPlatformConfig(PlatformConfig): self.dbc_dict = dbc_dict('subaru_global_2020_hybrid_generated', None) +@dataclass +class SubaruGen2PlatformConfig(SubaruPlatformConfig): + def init(self): + super().init() + self.flags |= SubaruFlags.GLOBAL_GEN2 + if not (self.flags & SubaruFlags.LKAS_ANGLE): + self.flags |= SubaruFlags.STEER_RATE_LIMITED + + class CAR(Platforms): # Global platform ASCENT = SubaruPlatformConfig( @@ -113,17 +122,15 @@ class CAR(Platforms): SubaruCarInfo("Subaru Ascent 2019-21", "All"), specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) - OUTBACK = SubaruPlatformConfig( + OUTBACK = SubaruGen2PlatformConfig( "SUBARU OUTBACK 6TH GEN", SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED, ) - LEGACY = SubaruPlatformConfig( + LEGACY = SubaruGen2PlatformConfig( "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), specs=OUTBACK.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.STEER_RATE_LIMITED, ) IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", @@ -199,17 +206,17 @@ class CAR(Platforms): specs=FORESTER.specs, flags=SubaruFlags.LKAS_ANGLE, ) - OUTBACK_2023 = SubaruPlatformConfig( + OUTBACK_2023 = SubaruGen2PlatformConfig( "SUBARU OUTBACK 7TH GEN", SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=OUTBACK.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE, + flags=SubaruFlags.LKAS_ANGLE, ) - ASCENT_2023 = SubaruPlatformConfig( + ASCENT_2023 = SubaruGen2PlatformConfig( "SUBARU ASCENT 2023", SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), specs=ASCENT.specs, - flags=SubaruFlags.GLOBAL_GEN2 | SubaruFlags.LKAS_ANGLE, + flags=SubaruFlags.LKAS_ANGLE, ) From ac16c5518a300df5fa31e088a6e2a03d1a0d1747 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 18:01:47 -0500 Subject: [PATCH 08/94] add CAR.print_debug (#31652) print debug --- selfdrive/car/__init__.py | 14 +++++++++++++- selfdrive/car/subaru/values.py | 4 ++++ 2 files changed, 17 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 42cd135446..e46ce120e8 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -1,5 +1,5 @@ # functions common among cars -from collections import namedtuple +from collections import defaultdict, namedtuple from dataclasses import dataclass from enum import IntFlag, ReprEnum from dataclasses import replace @@ -301,3 +301,15 @@ class Platforms(str, ReprEnum): @classmethod def with_flags(cls, flags: IntFlag) -> set['Platforms']: return {p for p in cls if p.config.flags & flags} + + @classmethod + def print_debug(cls, flags): + platforms_with_flag = defaultdict(list) + for flag in flags: + for platform in cls: + if platform.config.flags & flag: + assert flag.name is not None + platforms_with_flag[flag.name].append(platform) + + for flag, platforms in platforms_with_flag.items(): + print(f"{flag:20s}: {', '.join(p.name for p in platforms)}") diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 90502bfad7..7bf0f11bad 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -262,3 +262,7 @@ FW_QUERY_CONFIG = FwQueryConfig( CAR_INFO = CAR.create_carinfo_map() DBC = CAR.create_dbc_map() + + +if __name__ == "__main__": + CAR.print_debug(SubaruFlags) From 0fa3445ddb829122fc8d67cd6aab7b9842a6e089 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Feb 2024 17:19:31 -0600 Subject: [PATCH 09/94] Subaru: use carParams flags in interface (#31653) * Subaru: don't use platform flags * clean up --- selfdrive/car/subaru/interface.py | 23 ++++++++++------------- 1 file changed, 10 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py index ecf718bb3a..30e186bd09 100644 --- a/selfdrive/car/subaru/interface.py +++ b/selfdrive/car/subaru/interface.py @@ -10,47 +10,45 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): - platform_flags = candidate.config.flags - ret.carName = "subaru" ret.radarUnavailable = True # for HYBRID CARS to be upstreamed, we need: # - replacement for ES_Distance so we can cancel the cruise control # - to find the Cruise_Activated bit from the car # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc) - ret.dashcamOnly = bool(platform_flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) + ret.dashcamOnly = bool(ret.flags & (SubaruFlags.PREGLOBAL | SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) ret.autoResumeSng = False # Detect infotainment message sent from the camera - if not (platform_flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]: + if not (ret.flags & SubaruFlags.PREGLOBAL) and 0x323 in fingerprint[2]: ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value - if platform_flags & SubaruFlags.PREGLOBAL: + if ret.flags & SubaruFlags.PREGLOBAL: ret.enableBsm = 0x25c in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)] else: ret.enableBsm = 0x228 in fingerprint[0] ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)] - if platform_flags & SubaruFlags.GLOBAL_GEN2: + if ret.flags & SubaruFlags.GLOBAL_GEN2: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2 ret.steerLimitTimer = 0.4 ret.steerActuatorDelay = 0.1 - if platform_flags & SubaruFlags.LKAS_ANGLE: + if ret.flags & SubaruFlags.LKAS_ANGLE: ret.steerControlType = car.CarParams.SteerControlType.angle else: CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) if candidate in (CAR.ASCENT, CAR.ASCENT_2023): - ret.steerActuatorDelay = 0.3 # end-to-end angle controller + ret.steerActuatorDelay = 0.3 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00003 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]] elif candidate == CAR.IMPREZA: - ret.steerActuatorDelay = 0.4 # end-to-end angle controller + ret.steerActuatorDelay = 0.4 # end-to-end angle controller ret.lateralTuning.init('pid') ret.lateralTuning.pid.kf = 0.00005 ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]] @@ -85,12 +83,11 @@ class CarInterface(CarInterfaceBase): else: raise ValueError(f"unknown car: {candidate}") - LONG_UNAVAILABLE = SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL| SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID - - ret.experimentalLongitudinalAvailable = not (platform_flags & LONG_UNAVAILABLE) + ret.experimentalLongitudinalAvailable = not (ret.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.PREGLOBAL | + SubaruFlags.LKAS_ANGLE | SubaruFlags.HYBRID)) ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable - if platform_flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: + if ret.flags & SubaruFlags.GLOBAL_GEN2 and ret.openpilotLongitudinalControl: ret.flags |= SubaruFlags.DISABLE_EYESIGHT.value if ret.openpilotLongitudinalControl: From 690dc55ea26dadb26ed768103baafba47428cda6 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 29 Feb 2024 17:36:40 -0600 Subject: [PATCH 10/94] Car flags: label static flags (#31639) * comment, consistent source * no caps not global * no field * label rest --- selfdrive/car/chrysler/values.py | 1 + selfdrive/car/mazda/values.py | 3 ++- selfdrive/car/subaru/values.py | 3 +++ selfdrive/car/volkswagen/values.py | 1 + 4 files changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 8fa7664b66..bb60139507 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu class ChryslerFlags(IntFlag): + # Detected flags HIGHER_MIN_STEERING_SPEED = 1 @dataclass diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 246038bba3..5597e9f52f 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -33,6 +33,7 @@ class MazdaCarInfo(CarInfo): class MazdaFlags(IntFlag): + # Static flags # Gen 1 hardware: same CAN messages and same camera GEN1 = 1 @@ -40,7 +41,7 @@ class MazdaFlags(IntFlag): @dataclass class MazdaPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) - flags: int = field(default=MazdaFlags.GEN1) + flags: int = MazdaFlags.GEN1 class CAR(Platforms): diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 7bf0f11bad..c2b2d16d7f 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -53,8 +53,11 @@ class CarControllerParams: class SubaruFlags(IntFlag): + # Detected flags SEND_INFOTAINMENT = 1 DISABLE_EYESIGHT = 2 + + # Static flags GLOBAL_GEN2 = 4 # Cars that temporarily fault when steering angle rate is greater than some threshold. diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 065a340928..f00fd971aa 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -110,6 +110,7 @@ class CANBUS: class VolkswagenFlags(IntFlag): + # Detected flags STOCK_HCA_PRESENT = 1 From 7014b5259628bf44a7b4fcf0eb5809d2bcdcf3b2 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 18:56:11 -0500 Subject: [PATCH 11/94] Chrysler: fix radar not being enabled (#31655) fix radar --- selfdrive/car/chrysler/values.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index bb60139507..d6bfd4e0cb 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -22,7 +22,7 @@ class ChryslerCarInfo(CarInfo): @dataclass class ChryslerPlatformConfig(PlatformConfig): - dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', None)) + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion')) @dataclass(frozen=True) From e341707b0f1b26bc235fb0a3d4a1703723c0e48b Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 20:04:54 -0500 Subject: [PATCH 12/94] HKG: move to platform config (#31649) * fuck me! * that kinda makes things pretty nice * move it down * and move this comment * Wip * more flags :/ * add the debug shit * add * lets not break this yet * MORE flags git add .git add .git add .git add .! * B * add mando * update ref * possibly better? * we can use flags here * formatting * formatting * move up * canfd subclass * this is more clear * spacing * static! --------- Co-authored-by: Shane Smiskol --- selfdrive/car/__init__.py | 2 +- selfdrive/car/hyundai/carcontroller.py | 6 +- selfdrive/car/hyundai/hyundaican.py | 28 +- selfdrive/car/hyundai/values.py | 780 +++++++++++++---------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 478 insertions(+), 340 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index e46ce120e8..85b8a2bbe8 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -312,4 +312,4 @@ class Platforms(str, ReprEnum): platforms_with_flag[flag.name].append(platform) for flag, platforms in platforms_with_flag.items(): - print(f"{flag:20s}: {', '.join(p.name for p in platforms)}") + print(f"{flag:32s}: {', '.join(p.name for p in platforms)}") diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py index b0851abf55..ee7f441227 100644 --- a/selfdrive/car/hyundai/carcontroller.py +++ b/selfdrive/car/hyundai/carcontroller.py @@ -135,7 +135,7 @@ class CarController(CarControllerBase): # button presses can_sends.extend(self.create_button_messages(CC, CS, use_clu11=False)) else: - can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req, + can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_steer, apply_steer_req, torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, left_lane_warning, right_lane_warning)) @@ -175,12 +175,12 @@ class CarController(CarControllerBase): can_sends = [] if use_clu11: if CC.cruiseControl.cancel: - can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint)) + can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP)) elif CC.cruiseControl.resume: # send resume at a max freq of 10Hz if (self.frame - self.last_button_frame) * DT_CTRL > 0.1: # send 25 messages at a time to increases the likelihood of resume being accepted - can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25) + can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP)] * 25) if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15: self.last_button_frame = self.frame else: diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py index bc29aeb985..0bf29664e8 100644 --- a/selfdrive/car/hyundai/hyundaican.py +++ b/selfdrive/car/hyundai/hyundaican.py @@ -1,9 +1,9 @@ import crcmod -from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR +from openpilot.selfdrive.car.hyundai.values import CAR, HyundaiFlags hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf) -def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, +def create_lkas11(packer, frame, CP, apply_steer, steer_req, torque_fault, lkas11, sys_warning, sys_state, enabled, left_lane, right_lane, left_lane_depart, right_lane_depart): @@ -33,12 +33,12 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_ToiFlt"] = torque_fault # seems to allow actuation on CR_Lkas_StrToqReq values["CF_Lkas_MsgCount"] = frame % 0x10 - if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, - CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, - CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, - CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, - CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, - CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN): + if CP.carFingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE, + CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020, + CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, + CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, + CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, + CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN): values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1) values["CF_Lkas_LdwsOpt_USM"] = 2 @@ -57,7 +57,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 # Likely cars lacking the ability to show individual lane lines in the dash - elif car_fingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): + elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL): # SysWarning 4 = keep hands on wheel + beep values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0 @@ -72,18 +72,18 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, values["CF_Lkas_LdwsActivemode"] = 0 values["CF_Lkas_FcwOpt_USM"] = 0 - elif car_fingerprint == CAR.HYUNDAI_GENESIS: + elif CP.carFingerprint == CAR.HYUNDAI_GENESIS: # This field is actually LdwsActivemode # Genesis and Optima fault when forwarding while engaged values["CF_Lkas_LdwsActivemode"] = 2 dat = packer.make_can_msg("LKAS11", 0, values)[2] - if car_fingerprint in CHECKSUM["crc8"]: + if CP.flags & HyundaiFlags.CHECKSUM_CRC8: # CRC Checksum as seen on 2019 Hyundai Santa Fe dat = dat[:6] + dat[7:8] checksum = hyundai_checksum(dat) - elif car_fingerprint in CHECKSUM["6B"]: + elif CP.flags & HyundaiFlags.CHECKSUM_6B: # Checksum of first 6 Bytes, as seen on 2018 Kia Sorento checksum = sum(dat[:6]) % 256 else: @@ -95,7 +95,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req, return packer.make_can_msg("LKAS11", 0, values) -def create_clu11(packer, frame, clu11, button, car_fingerprint): +def create_clu11(packer, frame, clu11, button, CP): values = {s: clu11[s] for s in [ "CF_Clu_CruiseSwState", "CF_Clu_CruiseSwMain", @@ -113,7 +113,7 @@ def create_clu11(packer, frame, clu11, button, car_fingerprint): values["CF_Clu_CruiseSwState"] = button values["CF_Clu_AliveCnt1"] = frame % 0x10 # send buttons to camera on camera-scc based cars - bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0 + bus = 2 if CP.flags & HyundaiFlags.CAMERA_SCC else 0 return packer.make_can_msg("CLU11", bus, values) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 76ff0b39ce..d23d3a0a75 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -1,11 +1,11 @@ import re -from dataclasses import dataclass -from enum import Enum, IntFlag, StrEnum +from dataclasses import dataclass, field +from enum import Enum, IntFlag from cereal import car from panda.python import uds from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import dbc_dict +from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 @@ -52,92 +52,46 @@ class CarControllerParams: class HyundaiFlags(IntFlag): + # Dynamic Flags CANFD_HDA2 = 1 CANFD_ALT_BUTTONS = 2 - CANFD_ALT_GEARS = 4 - CANFD_CAMERA_SCC = 8 + CANFD_ALT_GEARS = 2 ** 2 + CANFD_CAMERA_SCC = 2 ** 3 - ALT_LIMITS = 16 - ENABLE_BLINKERS = 32 - CANFD_ALT_GEARS_2 = 64 - SEND_LFA = 128 - USE_FCA = 256 - CANFD_HDA2_ALT_STEERING = 512 - HYBRID = 1024 - EV = 2048 + ALT_LIMITS = 2 ** 4 + ENABLE_BLINKERS = 2 ** 5 + CANFD_ALT_GEARS_2 = 2 ** 6 + SEND_LFA = 2 ** 7 + USE_FCA = 2 ** 8 + CANFD_HDA2_ALT_STEERING = 2 ** 9 + # these cars use a different gas signal + HYBRID = 2 ** 10 + EV = 2 ** 11 -class CAR(StrEnum): - # Hyundai - AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN" - AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN" - ELANTRA = "HYUNDAI ELANTRA 2017" - ELANTRA_GT_I30 = "HYUNDAI I30 N LINE 2019 & GT 2018 DCT" - ELANTRA_2021 = "HYUNDAI ELANTRA 2021" - ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021" - HYUNDAI_GENESIS = "HYUNDAI GENESIS 2015-2016" - IONIQ = "HYUNDAI IONIQ HYBRID 2017-2019" - IONIQ_HEV_2022 = "HYUNDAI IONIQ HYBRID 2020-2022" - IONIQ_EV_LTD = "HYUNDAI IONIQ ELECTRIC LIMITED 2019" - IONIQ_EV_2020 = "HYUNDAI IONIQ ELECTRIC 2020" - IONIQ_PHEV_2019 = "HYUNDAI IONIQ PLUG-IN HYBRID 2019" - IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020" - KONA = "HYUNDAI KONA 2020" - KONA_EV = "HYUNDAI KONA ELECTRIC 2019" - KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022" - KONA_EV_2ND_GEN = "HYUNDAI KONA ELECTRIC 2ND GEN" - KONA_HEV = "HYUNDAI KONA HYBRID 2020" - SANTA_FE = "HYUNDAI SANTA FE 2019" - SANTA_FE_2022 = "HYUNDAI SANTA FE 2022" - SANTA_FE_HEV_2022 = "HYUNDAI SANTA FE HYBRID 2022" - SANTA_FE_PHEV_2022 = "HYUNDAI SANTA FE PlUG-IN HYBRID 2022" - SONATA = "HYUNDAI SONATA 2020" - SONATA_LF = "HYUNDAI SONATA 2019" - STARIA_4TH_GEN = "HYUNDAI STARIA 4TH GEN" - TUCSON = "HYUNDAI TUCSON 2019" - PALISADE = "HYUNDAI PALISADE 2020" - VELOSTER = "HYUNDAI VELOSTER 2019" - SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021" - IONIQ_5 = "HYUNDAI IONIQ 5 2022" - IONIQ_6 = "HYUNDAI IONIQ 6 2023" - TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN" - SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN" - CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN" + # Static Flags - # Kia - KIA_FORTE = "KIA FORTE E 2018 & GT 2021" - KIA_K5_2021 = "KIA K5 2021" - KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020" - KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN" - KIA_NIRO_EV = "KIA NIRO EV 2020" - KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN" - KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019" - KIA_NIRO_PHEV_2022 = "KIA NIRO PLUG-IN HYBRID 2022" - KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021" - KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN" - KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN" - KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT" - KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019" - KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT" - KIA_SELTOS = "KIA SELTOS 2021" - KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN" - KIA_SORENTO = "KIA SORENTO GT LINE 2018" - KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN" - KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN" - KIA_STINGER = "KIA STINGER GT2 2018" - KIA_STINGER_2022 = "KIA STINGER 2022" - KIA_CEED = "KIA CEED INTRO ED 2019" - KIA_EV6 = "KIA EV6 2022" - KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN" + # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. + # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py + MANDO_RADAR = 2 ** 12 + CANFD = 2 ** 13 - # Genesis - GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN" - GENESIS_G70 = "GENESIS G70 2018" - GENESIS_G70_2020 = "GENESIS G70 2020" - GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN" - GENESIS_G80 = "GENESIS G80 2017" - GENESIS_G90 = "GENESIS G90 2017" - GENESIS_GV80 = "GENESIS GV80 2023" + # The radar does SCC on these cars when HDA I, rather than the camera + RADAR_SCC = 2 ** 14 + CAMERA_SCC = 2 ** 15 + CHECKSUM_CRC8 = 2 ** 16 + CHECKSUM_6B = 2 ** 17 + + # these cars require a special panda safety mode due to missing counters and checksums in the messages + LEGACY = 2 ** 18 + + # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. + UNSUPPORTED_LONGITUDINAL = 2 ** 19 + + CANFD_NO_RADAR_DISABLE = 2 ** 20 + + CLUSTER_GEARS = 2 ** 21 + TCU_GEARS = 2 ** 22 class Footnote(Enum): @@ -152,160 +106,425 @@ class HyundaiCarInfo(CarInfo): package: str = "Smart Cruise Control (SCC)" def init_make(self, CP: car.CarParams): - if CP.carFingerprint in CANFD_CAR: + if CP.flags & HyundaiFlags.CANFD: self.footnotes.insert(0, Footnote.CANFD) -CAR_INFO: dict[str, HyundaiCarInfo | list[HyundaiCarInfo] | None] = { - CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.AZERA_HEV_6TH_GEN: [ - HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - ], - CAR.ELANTRA: [ - # TODO: 2017-18 could be Hyundai G - HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), - HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), - ], - CAR.ELANTRA_GT_I30: [ - HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", +@dataclass +class HyundaiPlatformConfig(PlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_kia_generic", None)) + + def init(self): + if self.flags & HyundaiFlags.MANDO_RADAR: + self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated') + + +@dataclass +class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None)) + + def init(self): + super().init() + self.flags |= HyundaiFlags.CANFD + + +class CAR(Platforms): + # Hyundai + AZERA_6TH_GEN = HyundaiPlatformConfig( + "HYUNDAI AZERA 6TH GEN", + HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( + "HYUNDAI AZERA HYBRID 6TH GEN", + [ + HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + flags=HyundaiFlags.HYBRID + ) + ELANTRA = HyundaiPlatformConfig( + "HYUNDAI ELANTRA 2017", + [ + # TODO: 2017-18 could be Hyundai G + HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), + HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), + ], + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + ) + ELANTRA_GT_I30 = HyundaiPlatformConfig( + "HYUNDAI I30 N LINE 2019 & GT 2018 DCT", + [ + HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + ) + ELANTRA_2021 = HyundaiPlatformConfig( + "HYUNDAI ELANTRA 2021", + HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + ELANTRA_HEV_2021 = HyundaiPlatformConfig( + "HYUNDAI ELANTRA HYBRID 2021", + HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.HYUNDAI_GENESIS: [ - # TODO: check 2015 packages - HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), - HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), - ], - CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness - CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), - CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), - CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages - # TODO: this is the 2024 US MY, not yet released - CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + HYUNDAI_GENESIS = HyundaiPlatformConfig( + "HYUNDAI GENESIS 2015-2016", + [ + # TODO: check 2015 packages + HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), + ], + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY + ) + IONIQ = HyundaiPlatformConfig( + "HYUNDAI IONIQ HYBRID 2017-2019", + HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID + ) + IONIQ_HEV_2022 = HyundaiPlatformConfig( + "HYUNDAI IONIQ HYBRID 2020-2022", + HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + ) + IONIQ_EV_LTD = HyundaiPlatformConfig( + "HYUNDAI IONIQ ELECTRIC LIMITED 2019", + HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY + ) + IONIQ_EV_2020 = HyundaiPlatformConfig( + "HYUNDAI IONIQ ELECTRIC 2020", + HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.EV + ) + IONIQ_PHEV_2019 = HyundaiPlatformConfig( + "HYUNDAI IONIQ PLUG-IN HYBRID 2019", + HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID + ) + IONIQ_PHEV = HyundaiPlatformConfig( + "HYUNDAI IONIQ PHEV 2020", + HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.HYBRID + ) + KONA = HyundaiPlatformConfig( + "HYUNDAI KONA 2020", + HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + flags=HyundaiFlags.CLUSTER_GEARS + ) + KONA_EV = HyundaiPlatformConfig( + "HYUNDAI KONA ELECTRIC 2019", + HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.EV + ) + KONA_EV_2022 = HyundaiPlatformConfig( + "HYUNDAI KONA ELECTRIC 2022", + HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), + flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV + ) + KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI KONA ELECTRIC 2ND GEN", + HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), - CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + ) + KONA_HEV = HyundaiPlatformConfig( + "HYUNDAI KONA HYBRID 2020", + HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, + flags=HyundaiFlags.HYBRID + ) + SANTA_FE = HyundaiPlatformConfig( + "HYUNDAI SANTA FE 2019", + HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", car_parts=CarParts.common([CarHarness.hyundai_d])), - CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + SANTA_FE_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE 2022", + HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + SANTA_FE_HEV_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE HYBRID 2022", + HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( + "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", + HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + SONATA = HyundaiPlatformConfig( + "HYUNDAI SONATA 2020", + HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.STARIA_4TH_GEN: HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.TUCSON: [ - HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), - ], - CAR.PALISADE: [ - HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), - HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - ], - CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.IONIQ_5: [ - HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), - HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), - HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), - ], - CAR.IONIQ_6: [ + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + SONATA_LF = HyundaiPlatformConfig( + "HYUNDAI SONATA 2019", + HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + ) + STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI STARIA 4TH GEN", + HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + TUCSON = HyundaiPlatformConfig( + "HYUNDAI TUCSON 2019", + [ + HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), + ], + flags=HyundaiFlags.TCU_GEARS + ) + PALISADE = HyundaiPlatformConfig( + "HYUNDAI PALISADE 2020", + [ + HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + ) + VELOSTER = HyundaiPlatformConfig( + "HYUNDAI VELOSTER 2019", + HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + ) + SONATA_HYBRID = HyundaiPlatformConfig( + "HYUNDAI SONATA HYBRID 2021", + HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + IONIQ_5 = HyundaiCanFDPlatformConfig( + "HYUNDAI IONIQ 5 2022", + [ + HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])), + HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), + HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ], + flags=HyundaiFlags.EV + ) + IONIQ_6 = HyundaiCanFDPlatformConfig( + "HYUNDAI IONIQ 6 2023", HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), - ], - CAR.TUCSON_4TH_GEN: [ - HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), - ], - CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), - CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + ) + TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI TUCSON 4TH GEN", + [ + HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + ) + SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( + "HYUNDAI SANTA CRUZ 1ST GEN", + HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), + ) + CUSTIN_1ST_GEN = HyundaiPlatformConfig( + "HYUNDAI CUSTIN 1ST GEN", + HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) # Kia - CAR.KIA_FORTE: [ + KIA_FORTE = HyundaiPlatformConfig( + "KIA FORTE E 2018 & GT 2021", + [ HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), - CAR.KIA_NIRO_EV: [ - HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), - HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), - HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), - ], - CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_NIRO_PHEV: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), - ], - CAR.KIA_NIRO_PHEV_2022: [ - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), - HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - ], - CAR.KIA_NIRO_HEV_2021: [ - HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), - HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), - ], - CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", + ] + ) + KIA_K5_2021 = HyundaiPlatformConfig( + "KIA K5 2021", + HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + KIA_K5_HEV_2020 = HyundaiPlatformConfig( + "KIA K5 HYBRID 2020", + HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + ) + KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( + "KIA K8 HYBRID 1ST GEN", + HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + ) + KIA_NIRO_EV = HyundaiPlatformConfig( + "KIA NIRO EV 2020", + [ + HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])), + HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV + ) + KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( + "KIA NIRO EV 2ND GEN", + HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.EV + ) + KIA_NIRO_PHEV = HyundaiPlatformConfig( + "KIA NIRO HYBRID 2019", + [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + ], + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( + "KIA NIRO PLUG-IN HYBRID 2022", + [ + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR + ) + KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( + "KIA NIRO HYBRID 2021", + [ + HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), + HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), + ], + flags=HyundaiFlags.HYBRID + ) + KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( + "KIA NIRO HYBRID 2ND GEN", + HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + ) + KIA_OPTIMA_G4 = HyundaiPlatformConfig( + "KIA OPTIMA 4TH GEN", + HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 - CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + ) + KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( + "KIA OPTIMA 4TH GEN FACELIFT", + HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + ) # TODO: may support adjacent years. may have a non-zero minimum steering speed - CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), - CAR.KIA_SPORTAGE_5TH_GEN: [ - HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), - HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), - ], - CAR.KIA_SORENTO: [ - HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", + KIA_OPTIMA_H = HyundaiPlatformConfig( + "KIA OPTIMA HYBRID 2017 & SPORTS 2019", + HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + ) + KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( + "KIA OPTIMA HYBRID 4TH GEN FACELIFT", + HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_SELTOS = HyundaiPlatformConfig( + "KIA SELTOS 2021", + HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + flags=HyundaiFlags.CHECKSUM_CRC8 + ) + KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SPORTAGE 5TH GEN", + [ + HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), + ], + ) + KIA_SORENTO = HyundaiPlatformConfig( + "KIA SORENTO GT LINE 2018", + [ + HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), - HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), - ], - CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_SORENTO_HEV_4TH_GEN: [ - HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - ], - CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", - car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), - CAR.KIA_EV6: [ - HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), - HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) - ], - CAR.KIA_CARNIVAL_4TH_GEN: [ - HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) - ], + HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + ) + KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SORENTO 4TH GEN", + HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + flags=HyundaiFlags.RADAR_SCC + ) + KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA SORENTO HYBRID 4TH GEN", + [ + HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + ], + flags=HyundaiFlags.RADAR_SCC + ) + KIA_STINGER = HyundaiPlatformConfig( + "KIA STINGER GT2 2018", + HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", + car_parts=CarParts.common([CarHarness.hyundai_c])) + ) + KIA_STINGER_2022 = HyundaiPlatformConfig( + "KIA STINGER 2022", + HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ) + KIA_CEED = HyundaiPlatformConfig( + "KIA CEED INTRO ED 2019", + HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), + flags=HyundaiFlags.LEGACY + ) + KIA_EV6 = HyundaiCanFDPlatformConfig( + "KIA EV6 2022", + [ + HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])), + HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) + ], + flags=HyundaiFlags.EV + ) + KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( + "KIA CARNIVAL 4TH GEN", + [ + HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) + ], + flags=HyundaiFlags.RADAR_SCC + ) # Genesis - CAR.GENESIS_GV60_EV_1ST_GEN: [ - HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - ], - CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - CAR.GENESIS_GV70_1ST_GEN: [ - HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), - ], - CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), - CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), -} + GENESIS_GV60_EV_1ST_GEN = HyundaiCanFDPlatformConfig( + "GENESIS GV60 ELECTRIC 1ST GEN", + [ + HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + ], + flags=HyundaiFlags.EV + ) + GENESIS_G70 = HyundaiPlatformConfig( + "GENESIS G70 2018", + HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + flags=HyundaiFlags.LEGACY + ) + GENESIS_G70_2020 = HyundaiPlatformConfig( + "GENESIS G70 2020", + HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + flags=HyundaiFlags.MANDO_RADAR + ) + GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( + "GENESIS GV70 1ST GEN", + [ + HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + ], + flags=HyundaiFlags.RADAR_SCC + ) + GENESIS_G80 = HyundaiPlatformConfig( + "GENESIS G80 2017", + HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + flags=HyundaiFlags.LEGACY + ) + GENESIS_G90 = HyundaiPlatformConfig( + "GENESIS G90 2017", + HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + ) + GENESIS_GV80 = HyundaiCanFDPlatformConfig( + "GENESIS GV80 2023", + HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + flags=HyundaiFlags.RADAR_SCC + ) + class Buttons: NONE = 0 @@ -518,118 +737,37 @@ FW_QUERY_CONFIG = FwQueryConfig( match_fw_to_car_fuzzy=match_fw_to_car_fuzzy, ) - CHECKSUM = { - "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, - CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, - CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN], - "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS], + "crc8": CAR.with_flags(HyundaiFlags.CHECKSUM_CRC8), + "6B": CAR.with_flags(HyundaiFlags.CHECKSUM_6B), } CAN_GEARS = { # which message has the gear. hybrid and EV use ELECT_GEAR - "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA}, - "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON}, + "use_cluster_gears": CAR.with_flags(HyundaiFlags.CLUSTER_GEARS), + "use_tcu_gears": CAR.with_flags(HyundaiFlags.TCU_GEARS), } -CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, - CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN, - CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN, - CAR.STARIA_4TH_GEN} - -# The radar does SCC on these cars when HDA I, rather than the camera -CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN} +CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD) +CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC) # These CAN FD cars do not accept communication control to disable the ADAS ECU, # responds with 0x7F2822 - 'conditions not correct' -CANFD_UNSUPPORTED_LONGITUDINAL_CAR = {CAR.IONIQ_6, CAR.KONA_EV_2ND_GEN} +CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) # The camera does SCC on these cars, rather than the radar -CAMERA_SCC_CAR = {CAR.KONA_EV_2022, } - -# these cars use a different gas signal -HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, - CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KIA_K5_HEV_2020, - CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.AZERA_HEV_6TH_GEN, CAR.KIA_NIRO_PHEV_2022} - -EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022, - CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN} - -# these cars require a special panda safety mode due to missing counters and checksums in the messages -LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4, - CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022, - CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} - -# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc. -UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL, - CAR.KIA_OPTIMA_H_G4_FL} - -# If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. -# If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py -DBC = { - CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_GT_I30: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None), - CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G70_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.GENESIS_G80: dbc_dict('hyundai_kia_generic', None), - CAR.GENESIS_G90: dbc_dict('hyundai_kia_generic', None), - CAR.HYUNDAI_GENESIS: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_PHEV_2019: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_PHEV: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_2020: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_EV_LTD: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.IONIQ: dbc_dict('hyundai_kia_generic', None), - CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format - CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_STINGER_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KONA: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE_HEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SANTA_FE_PHEV_2022: dbc_dict('hyundai_kia_generic', None), - CAR.SONATA: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.SONATA_LF: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format - CAR.TUCSON: dbc_dict('hyundai_kia_generic', None), - CAR.PALISADE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.VELOSTER: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_CEED: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_EV6: dbc_dict('hyundai_canfd', None), - CAR.SONATA_HYBRID: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.IONIQ_5: dbc_dict('hyundai_canfd', None), - CAR.IONIQ_6: dbc_dict('hyundai_canfd', None), - CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None), - CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None), - CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None), - CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None), - CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None), - CAR.KIA_NIRO_PHEV_2022: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'), - CAR.STARIA_4TH_GEN: dbc_dict('hyundai_canfd', None), -} +CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC) + +HYBRID_CAR = CAR.with_flags(HyundaiFlags.HYBRID) + +EV_CAR = CAR.with_flags(HyundaiFlags.EV) + +LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY) + +UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() + +if __name__ == "__main__": + CAR.print_debug(HyundaiFlags) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 94674f05de..015f941261 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -5aa0f4c0ab2cebccc3596aa8ef529fdb94a43643 +de322b3898f8fedb57036b6cf4a0605968138929 From a6a6f7bb50ecbca61dfa44ca23f0cab201439342 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 22:14:31 -0500 Subject: [PATCH 13/94] Honda: move carspecs to platformconfig (#31657) * first pass * fix --- selfdrive/car/honda/interface.py | 69 -------------------------------- selfdrive/car/honda/values.py | 24 ++++++++++- 2 files changed, 23 insertions(+), 70 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index a4cf647c0f..71008e5001 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -92,10 +92,6 @@ class CarInterface(CarInterfaceBase): eps_modified = True if candidate == CAR.CIVIC: - ret.mass = 1326. - ret.wheelbase = 2.70 - ret.centerToFront = ret.wheelbase * 0.4 - ret.steerRatio = 15.38 # 10.93 is end-to-end spec if eps_modified: # stock request input values: 0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE # stock request output values: 0x0000, 0x0917, 0x0DC5, 0x1017, 0x119F, 0x140B, 0x1680, 0x1680, 0x1680 @@ -110,18 +106,10 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[1.1], [0.33]] elif candidate in (CAR.CIVIC_BOSCH, CAR.CIVIC_BOSCH_DIESEL, CAR.CIVIC_2022): - ret.mass = 1326. - ret.wheelbase = 2.70 - ret.centerToFront = ret.wheelbase * 0.4 - ret.steerRatio = 15.38 # 10.93 is end-to-end spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACCORD: - ret.mass = 3279. * CV.LB_TO_KG - ret.wheelbase = 2.83 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 16.33 # 11.82 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.8467 @@ -131,29 +119,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.ACURA_ILX: - ret.mass = 3095. * CV.LB_TO_KG - ret.wheelbase = 2.67 - ret.centerToFront = ret.wheelbase * 0.37 - ret.steerRatio = 18.61 # 15.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): - ret.mass = 3572. * CV.LB_TO_KG - ret.wheelbase = 2.62 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.89 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_5G: - ret.mass = 3410. * CV.LB_TO_KG - ret.wheelbase = 2.66 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.0 # 12.3 is spec end-to-end if eps_modified: # stock request input values: 0x0000, 0x00DB, 0x01BB, 0x0296, 0x0377, 0x0454, 0x0532, 0x0610, 0x067F # stock request output values: 0x0000, 0x0500, 0x0A15, 0x0E6D, 0x1100, 0x1200, 0x129A, 0x134D, 0x1400 @@ -167,39 +143,22 @@ class CarInterface(CarInterfaceBase): ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: - ret.mass = 1667. # mean of 4 models in kg - ret.wheelbase = 2.66 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 16.0 # 12.3 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: - ret.mass = 2644. * CV.LB_TO_KG - ret.wheelbase = 2.53 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: - ret.mass = 3086. * CV.LB_TO_KG - ret.wheelbase = 2.74 - # the remaining parameters were copied from FIT - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 13.06 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate in (CAR.HRV, CAR.HRV_3G): - ret.mass = 3125 * CV.LB_TO_KG - ret.wheelbase = 2.61 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 15.2 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] ret.tireStiffnessFactor = 0.5 if candidate == CAR.HRV: @@ -209,28 +168,16 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: - ret.mass = 3935. * CV.LB_TO_KG - ret.wheelbase = 2.68 - ret.centerToFront = ret.wheelbase * 0.38 - ret.steerRatio = 15.0 # as spec ret.tireStiffnessFactor = 0.444 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: - ret.mass = 4068. * CV.LB_TO_KG - ret.wheelbase = 2.75 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 11.95 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] ret.tireStiffnessFactor = 0.677 elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): - ret.mass = 1900. - ret.wheelbase = 3.00 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 14.35 # as spec ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] if candidate == CAR.ODYSSEY_CHN: @@ -239,37 +186,21 @@ class CarInterface(CarInterfaceBase): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end elif candidate == CAR.PILOT: - ret.mass = 4278. * CV.LB_TO_KG # average weight - ret.wheelbase = 2.86 - ret.centerToFront = ret.wheelbase * 0.428 - ret.steerRatio = 16.0 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: - ret.mass = 4515. * CV.LB_TO_KG - ret.wheelbase = 3.18 - ret.centerToFront = ret.wheelbase * 0.41 - ret.steerRatio = 15.59 # as spec ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: - ret.mass = 2987. * CV.LB_TO_KG - ret.wheelbase = 2.7 - ret.centerToFront = ret.wheelbase * 0.39 - ret.steerRatio = 15.0 # 12.58 is spec end-to-end ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: - ret.mass = 3338.8 * CV.LB_TO_KG - ret.wheelbase = 2.5 - ret.centerToFront = ret.wheelbase * 0.5 - ret.steerRatio = 16.71 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 2b11086405..abe710528c 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -4,7 +4,7 @@ from enum import Enum, IntFlag from cereal import car from openpilot.common.conversions import Conversions as CV from panda.python import uds -from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16 @@ -117,6 +117,7 @@ class CAR(Platforms): HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], dbc_dict('honda_accord_2018_can_generated', None), + specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end flags=HondaFlags.BOSCH, ) CIVIC_BOSCH = HondaPlatformConfig( @@ -127,12 +128,14 @@ class CAR(Platforms): HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), + specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec flags=HondaFlags.BOSCH ) CIVIC_BOSCH_DIESEL = HondaPlatformConfig( "HONDA CIVIC SEDAN 1.6 DIESEL 2019", None, # don't show in docs dbc_dict('honda_accord_2018_can_generated', None), + specs=CIVIC_BOSCH.specs, flags=HondaFlags.BOSCH ) CIVIC_2022 = HondaPlatformConfig( @@ -142,42 +145,49 @@ class CAR(Platforms): HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), ], dbc_dict('honda_civic_ex_2022_can_generated', None), + specs=CIVIC_BOSCH.specs, flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, ) CRV_5G = HondaPlatformConfig( "HONDA CR-V 2017", HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), + specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end flags=HondaFlags.BOSCH, ) CRV_HYBRID = HondaPlatformConfig( "HONDA CR-V HYBRID 2019", HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_accord_2018_can_generated', None), + specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end flags=HondaFlags.BOSCH ) HRV_3G = HondaPlatformConfig( "HONDA HR-V 2023", HondaCarInfo("Honda HR-V 2023", "All"), dbc_dict('honda_civic_ex_2022_can_generated', None), + specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS ) ACURA_RDX_3G = HondaPlatformConfig( "ACURA RDX 2020", HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), dbc_dict('acura_rdx_2020_can_generated', None), + specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec flags=HondaFlags.BOSCH ) INSIGHT = HondaPlatformConfig( "HONDA INSIGHT 2019", HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), dbc_dict('honda_insight_ex_2019_can_generated', None), + specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec flags=HondaFlags.BOSCH ) HONDA_E = HondaPlatformConfig( "HONDA E 2020", HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), dbc_dict('acura_rdx_2020_can_generated', None), + specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), flags=HondaFlags.BOSCH ) @@ -186,54 +196,63 @@ class CAR(Platforms): "ACURA ILX 2016", HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV = HondaPlatformConfig( "HONDA CR-V 2016", HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV_EU = HondaPlatformConfig( "HONDA CR-V EU 2016", None, # Euro version of CRV Touring, don't show in docs dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CRV.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FIT = HondaPlatformConfig( "HONDA FIT 2018", HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FREED = HondaPlatformConfig( "HONDA FREED 2020", HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) HRV = HondaPlatformConfig( "HONDA HRV 2019", HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=HRV_3G.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) ODYSSEY = HondaPlatformConfig( "HONDA ODYSSEY 2018", HondaCarInfo("Honda Odyssey 2018-20"), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL ) ODYSSEY_CHN = HondaPlatformConfig( "HONDA ODYSSEY CHN 2019", None, # Chinese version of Odyssey, don't show in docs dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), + specs=ODYSSEY.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES ) ACURA_RDX = HondaPlatformConfig( "ACURA RDX 2018", HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) PILOT = HondaPlatformConfig( @@ -243,18 +262,21 @@ class CAR(Platforms): HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) RIDGELINE = HondaPlatformConfig( "HONDA RIDGELINE 2017", HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CIVIC = HondaPlatformConfig( "HONDA CIVIC 2016", HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), + specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, ) From 2d2ba37b46e355c9784f0450f19470c125232bb6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 29 Feb 2024 19:39:28 -0800 Subject: [PATCH 14/94] build tools on-device (#31658) --- SConstruct | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index dac3529892..c08fe48f66 100644 --- a/SConstruct +++ b/SConstruct @@ -386,7 +386,7 @@ SConscript(['third_party/SConscript']) SConscript(['selfdrive/SConscript']) -if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'): +if Dir('#tools/cabana/').exists() and GetOption('extras'): SConscript(['tools/replay/SConscript']) SConscript(['tools/cabana/SConscript']) From e576da1457f2e978f1dbd594b857bff034a359d7 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Thu, 29 Feb 2024 22:51:20 -0500 Subject: [PATCH 15/94] VW: use flags for PQ (#31659) pq use flags --- selfdrive/car/volkswagen/carcontroller.py | 4 ++-- selfdrive/car/volkswagen/carstate.py | 8 ++++---- selfdrive/car/volkswagen/interface.py | 8 ++++---- selfdrive/car/volkswagen/values.py | 10 +++++++--- 4 files changed, 17 insertions(+), 13 deletions(-) diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py index f99e87d5d3..1b1858703d 100644 --- a/selfdrive/car/volkswagen/carcontroller.py +++ b/selfdrive/car/volkswagen/carcontroller.py @@ -6,7 +6,7 @@ from openpilot.common.realtime import DT_CTRL from openpilot.selfdrive.car import apply_driver_steer_torque_limits from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan -from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams, VolkswagenFlags +from openpilot.selfdrive.car.volkswagen.values import CANBUS, CarControllerParams, VolkswagenFlags VisualAlert = car.CarControl.HUDControl.VisualAlert LongCtrlState = car.CarControl.Actuators.LongControlState @@ -16,7 +16,7 @@ class CarController(CarControllerBase): def __init__(self, dbc_name, CP, VM): self.CP = CP self.CCP = CarControllerParams(CP) - self.CCS = pqcan if CP.carFingerprint in PQ_CARS else mqbcan + self.CCS = pqcan if CP.flags & VolkswagenFlags.PQ else mqbcan self.packer_pt = CANPacker(dbc_name) self.apply_steer_last = 0 diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 25c5bc04bc..48e9ed37d6 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -3,7 +3,7 @@ from cereal import car from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \ +from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \ CarControllerParams, VolkswagenFlags @@ -31,7 +31,7 @@ class CarState(CarStateBase): return button_events def update(self, pt_cp, cam_cp, ext_cp, trans_type): - if self.CP.carFingerprint in PQ_CARS: + if self.CP.flags & VolkswagenFlags.PQ: return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type) ret = car.CarState.new_message() @@ -257,7 +257,7 @@ class CarState(CarStateBase): @staticmethod def get_can_parser(CP): - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: return CarState.get_can_parser_pq(CP) messages = [ @@ -294,7 +294,7 @@ class CarState(CarStateBase): @staticmethod def get_cam_can_parser(CP): - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: return CarState.get_cam_can_parser_pq(CP) messages = [] diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index fa68e81d0d..374b657512 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -2,7 +2,7 @@ from cereal import car from panda import Panda from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase -from openpilot.selfdrive.car.volkswagen.values import PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags +from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName @@ -22,11 +22,11 @@ class CarInterface(CarInterfaceBase): self.eps_timer_soft_disable_alert = False @staticmethod - def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): + def _get_params(ret, candidate: CAR, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True - if candidate in PQ_CARS: + if ret.flags & VolkswagenFlags.PQ: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 @@ -72,7 +72,7 @@ class CarInterface(CarInterfaceBase): # Global lateral tuning defaults, can be overridden per-vehicle ret.steerLimitTimer = 0.4 - if candidate in PQ_CARS: + if ret.flags & VolkswagenFlags.PQ: ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) else: diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index f00fd971aa..86788dcf64 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -40,7 +40,7 @@ class CarControllerParams: def __init__(self, CP): can_define = CANDefine(DBC[CP.carFingerprint]["pt"]) - if CP.carFingerprint in PQ_CARS: + if CP.flags & VolkswagenFlags.PQ: self.LDW_STEP = 5 # LDW_1 message frequency 20Hz self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm @@ -113,6 +113,9 @@ class VolkswagenFlags(IntFlag): # Detected flags STOCK_HCA_PRESENT = 1 + # Static Flags + PQ = 2 + @dataclass class VolkswagenMQBPlatformConfig(PlatformConfig): @@ -123,6 +126,9 @@ class VolkswagenMQBPlatformConfig(PlatformConfig): class VolkswagenPQPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('vw_golf_mk4', None)) + def init(self): + self.flags |= VolkswagenFlags.PQ + @dataclass(frozen=True, kw_only=True) class VolkswagenCarSpecs(CarSpecs): @@ -360,8 +366,6 @@ class CAR(Platforms): ) -PQ_CARS = {CAR.PASSAT_NMS, CAR.SHARAN_MK2} - # All supported cars should return FW from the engine, srs, eps, and fwdRadar. Cars # with a manual trans won't return transmission firmware, but all other cars will. # From 00f2703bbb70d5d79d3b64cb6b2974efb36cb4d4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Mar 2024 04:01:59 +0000 Subject: [PATCH 16/94] basic platform config tests --- selfdrive/car/tests/test_platform_configs.py | 24 ++++++++++++++++++++ 1 file changed, 24 insertions(+) create mode 100755 selfdrive/car/tests/test_platform_configs.py diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py new file mode 100755 index 0000000000..931780963f --- /dev/null +++ b/selfdrive/car/tests/test_platform_configs.py @@ -0,0 +1,24 @@ +#!/usr/bin/env python3 + +import unittest + +from openpilot.selfdrive.car.values import PLATFORMS + + +class TestPlatformConfigs(unittest.TestCase): + def test_configs(self): + + for platform in PLATFORMS.values(): + with self.subTest(platform=str(platform)): + if hasattr(platform, "config"): + + self.assertTrue(platform.config._frozen) + self.assertIn("pt", platform.config.dbc_dict) + self.assertTrue(len(platform.config.platform_str) > 0) + + # enable when all cars have specs + #self.assertIsNotNone(platform.config.specs) + + +if __name__ == "__main__": + unittest.main() From 9c3f0450bb277a02effdeccbe6e89986ed5678b9 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Thu, 29 Feb 2024 21:46:35 -0800 Subject: [PATCH 17/94] simple pyqt ui --- selfdrive/ui/ui.py | 77 ++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100755 selfdrive/ui/ui.py diff --git a/selfdrive/ui/ui.py b/selfdrive/ui/ui.py new file mode 100755 index 0000000000..ea2ee51a45 --- /dev/null +++ b/selfdrive/ui/ui.py @@ -0,0 +1,77 @@ +#!/usr/bin/env python3 +import os +import signal + +signal.signal(signal.SIGINT, signal.SIG_DFL) + +import cereal.messaging as messaging +from openpilot.system.hardware import HARDWARE + +from PyQt5.QtCore import Qt, QTimer +from PyQt5.QtWidgets import QLabel, QWidget, QVBoxLayout, QStackedLayout, QApplication +from openpilot.selfdrive.ui.qt.python_helpers import set_main_window + + +if __name__ == "__main__": + app = QApplication([]) + win = QWidget() + set_main_window(win) + + bg = QLabel("", alignment=Qt.AlignCenter) + + alert1 = QLabel() + alert2 = QLabel() + vlayout = QVBoxLayout() + vlayout.addWidget(alert1, alignment=Qt.AlignCenter) + vlayout.addWidget(alert2, alignment=Qt.AlignCenter) + + tmp = QWidget() + tmp.setLayout(vlayout) + + stack = QStackedLayout(win) + stack.addWidget(tmp) + stack.addWidget(bg) + stack.setStackingMode(QStackedLayout.StackAll) + + win.setObjectName("win") + win.setStyleSheet(""" + #win { + background-color: black; + } + QLabel { + color: white; + font-size: 40px; + } + """) + + sm = messaging.SubMaster(['deviceState', 'controlsState']) + + def update(): + sm.update(0) + + onroad = sm.all_checks(['deviceState']) and sm['deviceState'].started + if onroad: + cs = sm['controlsState'] + color = ("grey" if str(cs.status) in ("overriding", "preEnabled") else "green") if cs.enabled else "blue" + bg.setText("\U0001F44D" if cs.engageable else "\U0001F6D1") + bg.setStyleSheet(f"font-size: 100px; background-color: {color};") + bg.show() + + alert1.setText(cs.alertText1) + alert2.setText(cs.alertText2) + + if not sm.alive['controlsState']: + alert1.setText("waiting for controls...") + else: + bg.hide() + alert1.setText("") + alert2.setText("offroad") + + HARDWARE.set_screen_brightness(100 if onroad else 40) + os.system("echo 0 > /sys/class/backlight/panel0-backlight/bl_power") + + timer = QTimer() + timer.timeout.connect(update) + timer.start(50) + + app.exec_() From 52ee070fe0a6880b7e3a5db408a0453c8310be86 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 02:14:33 -0800 Subject: [PATCH 18/94] Toyota: use platform config (#31607) * part 1. Toyota platform config * more * everything works now * no more DBC * janky but that saves a lot of car lines * need to init inside values or else it won't be reliable * no return * fixes * minor update * common flags, no dbc grouping * some clean up * some clean up * rename * copied wrong :( * another * copied specs for easiest ones first * second easiest * fix erroneous commas * more clean up * do the rest * bug * the refactor is so error prone * huh?! * static * fix stiffness factor * detect unsupported DSU * Revert "detect unsupported DSU" This reverts commit 9b72de6c8ef282ce20f6472970874a960761884b. * fix DBC diff * test carparams * test sets * scratch * catches this * Revert "scratch" This reverts commit de08daa9fb8cc0368c5847b669e87b1b2e577616. * Revert "test sets" This reverts commit 62402f9b021cdf16a27fd9fb0883d81169711cbd. * Revert "test carparams" This reverts commit b02971659c2a8268d0ac8fdff02231dc36b5a197. * Update ref_commit --- selfdrive/car/__init__.py | 1 + selfdrive/car/interfaces.py | 1 + selfdrive/car/toyota/interface.py | 101 ----- selfdrive/car/toyota/values.py | 522 ++++++++++++++--------- selfdrive/test/process_replay/ref_commit | 2 +- 5 files changed, 319 insertions(+), 308 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 85b8a2bbe8..27d320bb41 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -256,6 +256,7 @@ class CarSpecs: centerToFrontRatio: float = 0.5 minSteerSpeed: float = 0.0 # m/s minEnableSpeed: float = -1.0 # m/s + tireStiffnessFactor: float = 1.0 @dataclass(order=True) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 491138f788..98b3c63ec7 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -120,6 +120,7 @@ class CarInterfaceBase(ABC): ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio ret.minEnableSpeed = candidate.config.specs.minEnableSpeed ret.minSteerSpeed = candidate.config.specs.minSteerSpeed + ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor ret.flags |= int(candidate.config.flags) ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 988b1b4547..7fd5c9435d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -1,5 +1,4 @@ from cereal import car -from openpilot.common.conversions import Conversions as CV from panda import Panda from panda.python import uds from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ @@ -46,10 +45,6 @@ class CarInterface(CarInterfaceBase): if candidate == CAR.PRIUS: stop_and_go = True - ret.wheelbase = 2.70 - ret.steerRatio = 15.74 # unknown end-to-end spec - ret.tireStiffnessFactor = 0.6371 # hand-tune - ret.mass = 3045. * CV.LB_TO_KG # Only give steer angle deadzone to for bad angle sensor prius for fw in car_fw: if fw.ecu == "eps" and not fw.fwVersion == b'8965B47060\x00\x00\x00\x00\x00\x00': @@ -58,68 +53,30 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.PRIUS_V: stop_and_go = True - ret.wheelbase = 2.78 - ret.steerRatio = 17.4 - ret.tireStiffnessFactor = 0.5533 - ret.mass = 3340. * CV.LB_TO_KG elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False - ret.wheelbase = 2.65 - ret.steerRatio = 16.88 # 14.5 is spec end-to-end - ret.tireStiffnessFactor = 0.5533 - ret.mass = 3650. * CV.LB_TO_KG # mean between normal and hybrid - - elif candidate == CAR.COROLLA: - ret.wheelbase = 2.70 - ret.steerRatio = 18.27 - ret.tireStiffnessFactor = 0.444 # not optimized yet - ret.mass = 2860. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True - ret.wheelbase = 2.79 - ret.steerRatio = 16. # 14.8 is spec end-to-end ret.wheelSpeedFactor = 1.035 - ret.tireStiffnessFactor = 0.5533 - ret.mass = 4481. * CV.LB_TO_KG # mean between min and max elif candidate in (CAR.CHR, CAR.CHR_TSS2): stop_and_go = True - ret.wheelbase = 2.63906 - ret.steerRatio = 13.6 - ret.tireStiffnessFactor = 0.7933 - ret.mass = 3300. * CV.LB_TO_KG elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): stop_and_go = True - ret.wheelbase = 2.82448 - ret.steerRatio = 13.7 - ret.tireStiffnessFactor = 0.7933 - ret.mass = 3400. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU stop_and_go = True - ret.wheelbase = 2.8194 # average of 109.8 and 112.2 in - ret.steerRatio = 16.0 - ret.tireStiffnessFactor = 0.8 - ret.mass = 4516. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf stop_and_go = candidate != CAR.AVALON - ret.wheelbase = 2.82 - ret.steerRatio = 14.8 # Found at https://pressroom.toyota.com/releases/2016+avalon+product+specs.download - ret.tireStiffnessFactor = 0.7983 - ret.mass = 3505. * CV.LB_TO_KG # mean between normal and hybrid elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023): - ret.wheelbase = 2.68986 - ret.steerRatio = 14.3 - ret.tireStiffnessFactor = 0.7933 - ret.mass = 3585. * CV.LB_TO_KG # Average between ICE and Hybrid ret.lateralTuning.init('pid') ret.lateralTuning.pid.kiBP = [0.0] ret.lateralTuning.pid.kpBP = [0.0] @@ -136,75 +93,17 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00004 break - elif candidate == CAR.COROLLA_TSS2: - ret.wheelbase = 2.67 # Average between 2.70 for sedan and 2.64 for hatchback - ret.steerRatio = 13.9 - ret.tireStiffnessFactor = 0.444 # not optimized yet - ret.mass = 3060. * CV.LB_TO_KG - - elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ES_TSS2): - ret.wheelbase = 2.8702 - ret.steerRatio = 16.0 # not optimized - ret.tireStiffnessFactor = 0.444 # not optimized yet - ret.mass = 3677. * CV.LB_TO_KG # mean between min and max - elif candidate == CAR.SIENNA: stop_and_go = True - ret.wheelbase = 3.03 - ret.steerRatio = 15.5 - ret.tireStiffnessFactor = 0.444 - ret.mass = 4590. * CV.LB_TO_KG - - elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC): - ret.wheelbase = 2.79908 - ret.steerRatio = 13.3 - ret.tireStiffnessFactor = 0.444 - ret.mass = 3736.8 * CV.LB_TO_KG - - elif candidate == CAR.LEXUS_GS_F: - ret.wheelbase = 2.84988 - ret.steerRatio = 13.3 - ret.tireStiffnessFactor = 0.444 - ret.mass = 4034. * CV.LB_TO_KG elif candidate == CAR.LEXUS_CTH: stop_and_go = True - ret.wheelbase = 2.60 - ret.steerRatio = 18.6 - ret.tireStiffnessFactor = 0.517 - ret.mass = 3108 * CV.LB_TO_KG # mean between min and max elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): stop_and_go = True - ret.wheelbase = 2.66 - ret.steerRatio = 14.7 - ret.tireStiffnessFactor = 0.444 # not optimized yet - ret.mass = 4070 * CV.LB_TO_KG - - elif candidate == CAR.LEXUS_LC_TSS2: - ret.wheelbase = 2.87 - ret.steerRatio = 13.0 - ret.tireStiffnessFactor = 0.444 # not optimized yet - ret.mass = 4500 * CV.LB_TO_KG - - elif candidate == CAR.PRIUS_TSS2: - ret.wheelbase = 2.70002 # from toyota online sepc. - ret.steerRatio = 13.4 # True steerRatio from older prius - ret.tireStiffnessFactor = 0.6371 # hand-tune - ret.mass = 3115. * CV.LB_TO_KG elif candidate == CAR.MIRAI: stop_and_go = True - ret.wheelbase = 2.91 - ret.steerRatio = 14.8 - ret.tireStiffnessFactor = 0.8 - ret.mass = 4300. * CV.LB_TO_KG - - elif candidate == CAR.ALPHARD_TSS2: - ret.wheelbase = 3.00 - ret.steerRatio = 14.2 - ret.tireStiffnessFactor = 0.444 - ret.mass = 4305. * CV.LB_TO_KG ret.centerToFront = ret.wheelbase * 0.44 diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 011d153f70..09d6082f67 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -1,10 +1,11 @@ import re from collections import defaultdict from dataclasses import dataclass, field -from enum import Enum, IntFlag, StrEnum +from enum import Enum, IntFlag from cereal import car from openpilot.common.conversions import Conversions as CV +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms from openpilot.selfdrive.car import AngleRateLimit, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -41,50 +42,19 @@ class CarControllerParams: class ToyotaFlags(IntFlag): + # Detected flags HYBRID = 1 SMART_DSU = 2 DISABLE_RADAR = 4 - -class CAR(StrEnum): - # Toyota - ALPHARD_TSS2 = "TOYOTA ALPHARD 2020" - AVALON = "TOYOTA AVALON 2016" - AVALON_2019 = "TOYOTA AVALON 2019" - AVALON_TSS2 = "TOYOTA AVALON 2022" # TSS 2.5 - CAMRY = "TOYOTA CAMRY 2018" - CAMRY_TSS2 = "TOYOTA CAMRY 2021" # TSS 2.5 - CHR = "TOYOTA C-HR 2018" - CHR_TSS2 = "TOYOTA C-HR 2021" - COROLLA = "TOYOTA COROLLA 2017" - # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid - COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019" - HIGHLANDER = "TOYOTA HIGHLANDER 2017" - HIGHLANDER_TSS2 = "TOYOTA HIGHLANDER 2020" - PRIUS = "TOYOTA PRIUS 2017" - PRIUS_V = "TOYOTA PRIUS v 2017" - PRIUS_TSS2 = "TOYOTA PRIUS TSS2 2021" - RAV4 = "TOYOTA RAV4 2017" - RAV4H = "TOYOTA RAV4 HYBRID 2017" - RAV4_TSS2 = "TOYOTA RAV4 2019" - RAV4_TSS2_2022 = "TOYOTA RAV4 2022" - RAV4_TSS2_2023 = "TOYOTA RAV4 2023" - MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5 - SIENNA = "TOYOTA SIENNA 2018" - - # Lexus - LEXUS_CTH = "LEXUS CT HYBRID 2018" - LEXUS_ES = "LEXUS ES 2018" - LEXUS_ES_TSS2 = "LEXUS ES 2019" - LEXUS_IS = "LEXUS IS 2018" - LEXUS_IS_TSS2 = "LEXUS IS 2023" - LEXUS_NX = "LEXUS NX 2018" - LEXUS_NX_TSS2 = "LEXUS NX 2020" - LEXUS_LC_TSS2 = "LEXUS LC 2024" - LEXUS_RC = "LEXUS RC 2020" - LEXUS_RX = "LEXUS RX 2016" - LEXUS_RX_TSS2 = "LEXUS RX 2020" - LEXUS_GS_F = "LEXUS GS F 2016" + # Static flags + TSS2 = 8 + NO_DSU = 16 + UNSUPPORTED_DSU = 32 + RADAR_ACC = 64 + # these cars use the Lane Tracing Assist (LTA) message for lateral control + ANGLE_CONTROL = 128 + NO_STOP_TIMER = 256 class Footnote(Enum): @@ -99,127 +69,305 @@ class ToyotaCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a])) -CAR_INFO: dict[str, ToyotaCarInfo | list[ToyotaCarInfo]] = { +@dataclass +class ToyotaTSS2PlatformConfig(PlatformConfig): + dbc_dict: dict = field(default_factory=lambda: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas')) + + def init(self): + self.flags |= ToyotaFlags.TSS2 | ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.NO_DSU + + if self.flags & ToyotaFlags.RADAR_ACC: + self.dbc_dict = dbc_dict('toyota_nodsu_pt_generated', None) + + +class CAR(Platforms): # Toyota - CAR.ALPHARD_TSS2: [ - ToyotaCarInfo("Toyota Alphard 2019-20"), - ToyotaCarInfo("Toyota Alphard Hybrid 2021"), - ], - CAR.AVALON: [ - ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), - ToyotaCarInfo("Toyota Avalon 2017-18"), - ], - CAR.AVALON_2019: [ - ToyotaCarInfo("Toyota Avalon 2019-21"), - ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), - ], - CAR.AVALON_TSS2: [ - ToyotaCarInfo("Toyota Avalon 2022"), - ToyotaCarInfo("Toyota Avalon Hybrid 2022"), - ], - CAR.CAMRY: [ - ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), - ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), - ], - CAR.CAMRY_TSS2: [ - ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), - ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), - ], - CAR.CHR: [ - ToyotaCarInfo("Toyota C-HR 2017-20"), - ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), - ], - CAR.CHR_TSS2: [ - ToyotaCarInfo("Toyota C-HR 2021"), - ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), - ], - CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"), - CAR.COROLLA_TSS2: [ - ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), - ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), - ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), - # Hybrid platforms - ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), - ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), - ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), - ToyotaCarInfo("Lexus UX Hybrid 2019-23"), - ], - CAR.HIGHLANDER: [ - ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), - ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), - ], - CAR.HIGHLANDER_TSS2: [ - ToyotaCarInfo("Toyota Highlander 2020-23"), - ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), - ], - CAR.PRIUS: [ - ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), - ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), - ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), - ], - CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), - CAR.PRIUS_TSS2: [ - ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), - ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), - ], - CAR.RAV4: [ - ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"), - ToyotaCarInfo("Toyota RAV4 2017-18") - ], - CAR.RAV4H: [ - ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") - ], - CAR.RAV4_TSS2: [ - ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), - ], - CAR.RAV4_TSS2_2022: [ - ToyotaCarInfo("Toyota RAV4 2022"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), - ], - CAR.RAV4_TSS2_2023: [ - ToyotaCarInfo("Toyota RAV4 2023-24"), - ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), - ], - CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"), - CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), + ALPHARD_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA ALPHARD 2020", + [ + ToyotaCarInfo("Toyota Alphard 2019-20"), + ToyotaCarInfo("Toyota Alphard Hybrid 2021"), + ], + specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), + ) + AVALON = PlatformConfig( + "TOYOTA AVALON 2016", + [ + ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), + ToyotaCarInfo("Toyota Avalon 2017-18"), + ], + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983), + ) + AVALON_2019 = PlatformConfig( + "TOYOTA AVALON 2019", + [ + ToyotaCarInfo("Toyota Avalon 2019-21"), + ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), + ], + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + specs=AVALON.specs, + ) + AVALON_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA AVALON 2022", # TSS 2.5 + [ + ToyotaCarInfo("Toyota Avalon 2022"), + ToyotaCarInfo("Toyota Avalon Hybrid 2022"), + ], + specs=AVALON.specs, + ) + CAMRY = PlatformConfig( + "TOYOTA CAMRY 2018", + [ + ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), + ], + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_DSU, + specs=CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933), + ) + CAMRY_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA CAMRY 2021", # TSS 2.5 + [ + ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), + ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), + ], + specs=CAMRY.specs, + ) + CHR = PlatformConfig( + "TOYOTA C-HR 2018", + [ + ToyotaCarInfo("Toyota C-HR 2017-20"), + ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), + ], + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_DSU, + specs=CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933), + ) + CHR_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA C-HR 2021", + [ + ToyotaCarInfo("Toyota C-HR 2021"), + ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), + ], + flags=ToyotaFlags.RADAR_ACC, + specs=CHR.specs, + ) + COROLLA = PlatformConfig( + "TOYOTA COROLLA 2017", + ToyotaCarInfo("Toyota Corolla 2017-19"), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), + ) + # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid + COROLLA_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA COROLLA TSS2 2019", + [ + ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-23", min_enable_speed=7.5), + ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"), + # Hybrid platforms + ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"), + ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5), + ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), + ToyotaCarInfo("Lexus UX Hybrid 2019-23"), + ], + specs=CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), + ) + HIGHLANDER = PlatformConfig( + "TOYOTA HIGHLANDER 2017", + [ + ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), + ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), + ], + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER, + specs=CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8), + ) + HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA HIGHLANDER 2020", + [ + ToyotaCarInfo("Toyota Highlander 2020-23"), + ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), + ], + specs=HIGHLANDER.specs, + ) + PRIUS = PlatformConfig( + "TOYOTA PRIUS 2017", + [ + ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), + ], + dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371), + ) + PRIUS_V = PlatformConfig( + "TOYOTA PRIUS v 2017", + ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER, + specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), + ) + PRIUS_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA PRIUS TSS2 2021", + [ + ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), + ], + specs=CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), + ) + RAV4 = PlatformConfig( + "TOYOTA RAV4 2017", + [ + ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"), + ToyotaCarInfo("Toyota RAV4 2017-18") + ], + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533), + ) + RAV4H = PlatformConfig( + "TOYOTA RAV4 HYBRID 2017", + [ + ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") + ], + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER, + specs=RAV4.specs, + ) + RAV4_TSS2 = ToyotaTSS2PlatformConfig( + "TOYOTA RAV4 2019", + [ + ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), + ], + specs=CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), + ) + RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( + "TOYOTA RAV4 2022", + [ + ToyotaCarInfo("Toyota RAV4 2022"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), + ], + flags=ToyotaFlags.RADAR_ACC, + specs=RAV4_TSS2.specs, + ) + RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( + "TOYOTA RAV4 2023", + [ + ToyotaCarInfo("Toyota RAV4 2023-24"), + ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), + ], + flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, + specs=RAV4_TSS2.specs, + ) + MIRAI = ToyotaTSS2PlatformConfig( + "TOYOTA MIRAI 2021", # TSS 2.5 + ToyotaCarInfo("Toyota Mirai 2021"), + specs=CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), + ) + SIENNA = PlatformConfig( + "TOYOTA SIENNA 2018", + ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.NO_STOP_TIMER, + specs=CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), + ) # Lexus - CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), - CAR.LEXUS_ES: [ - ToyotaCarInfo("Lexus ES 2017-18"), - ToyotaCarInfo("Lexus ES Hybrid 2017-18"), - ], - CAR.LEXUS_ES_TSS2: [ - ToyotaCarInfo("Lexus ES 2019-24"), - ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), - ], - CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"), - CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2022-23"), - CAR.LEXUS_GS_F: ToyotaCarInfo("Lexus GS F 2016"), - CAR.LEXUS_NX: [ - ToyotaCarInfo("Lexus NX 2018-19"), - ToyotaCarInfo("Lexus NX Hybrid 2018-19"), - ], - CAR.LEXUS_NX_TSS2: [ - ToyotaCarInfo("Lexus NX 2020-21"), - ToyotaCarInfo("Lexus NX Hybrid 2020-21"), - ], - CAR.LEXUS_LC_TSS2: ToyotaCarInfo("Lexus LC 2024"), - CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"), - CAR.LEXUS_RX: [ - ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), - ToyotaCarInfo("Lexus RX 2017-19"), - # Hybrid platforms - ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), - ToyotaCarInfo("Lexus RX Hybrid 2017-19"), - ], - CAR.LEXUS_RX_TSS2: [ - ToyotaCarInfo("Lexus RX 2020-22"), - ToyotaCarInfo("Lexus RX Hybrid 2020-22"), - ], -} + LEXUS_CTH = PlatformConfig( + "LEXUS CT HYBRID 2018", + ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), + ) + LEXUS_ES = PlatformConfig( + "LEXUS ES 2018", + [ + ToyotaCarInfo("Lexus ES 2017-18"), + ToyotaCarInfo("Lexus ES Hybrid 2017-18"), + ], + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444), + ) + LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( + "LEXUS ES 2019", + [ + ToyotaCarInfo("Lexus ES 2019-24"), + ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), + ], + specs=LEXUS_ES.specs, + ) + LEXUS_IS = PlatformConfig( + "LEXUS IS 2018", + ToyotaCarInfo("Lexus IS 2017-19"), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + specs=CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), + ) + LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( + "LEXUS IS 2023", + ToyotaCarInfo("Lexus IS 2022-23"), + specs=LEXUS_IS.specs, + ) + LEXUS_NX = PlatformConfig( + "LEXUS NX 2018", + [ + ToyotaCarInfo("Lexus NX 2018-19"), + ToyotaCarInfo("Lexus NX Hybrid 2018-19"), + ], + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444), + ) + LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( + "LEXUS NX 2020", + [ + ToyotaCarInfo("Lexus NX 2020-21"), + ToyotaCarInfo("Lexus NX Hybrid 2020-21"), + ], + specs=LEXUS_NX.specs, + ) + LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( + "LEXUS LC 2024", + ToyotaCarInfo("Lexus LC 2024"), + specs=CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), + ) + LEXUS_RC = PlatformConfig( + "LEXUS RC 2020", + ToyotaCarInfo("Lexus RC 2018-20"), + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + specs=LEXUS_IS.specs, + ) + LEXUS_RX = PlatformConfig( + "LEXUS RX 2016", + [ + ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"), + ToyotaCarInfo("Lexus RX 2017-19"), + # Hybrid platforms + ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), + ToyotaCarInfo("Lexus RX Hybrid 2017-19"), + ], + dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), + specs=CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533), + ) + LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( + "LEXUS RX 2020", + [ + ToyotaCarInfo("Lexus RX 2020-22"), + ToyotaCarInfo("Lexus RX Hybrid 2020-22"), + ], + specs=LEXUS_RX.specs, + ) + LEXUS_GS_F = PlatformConfig( + "LEXUS GS F 2016", + ToyotaCarInfo("Lexus GS F 2016"), + dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), + flags=ToyotaFlags.UNSUPPORTED_DSU, + specs=CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), + ) + # (addr, cars, bus, 1/freq*100, vl) STATIC_DSU_MSGS = [ @@ -439,62 +587,24 @@ FW_QUERY_CONFIG = FwQueryConfig( STEER_THRESHOLD = 100 -DBC = { - CAR.RAV4H: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.RAV4: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.PRIUS: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.PRIUS_V: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.COROLLA: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.LEXUS_LC_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_RC: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None), - CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.HIGHLANDER: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.HIGHLANDER_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.AVALON: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.AVALON_2019: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - CAR.AVALON_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None), - CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None), - CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - CAR.LEXUS_NX: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - CAR.LEXUS_NX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.PRIUS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.MIRAI: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.ALPHARD_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'), - CAR.LEXUS_GS_F: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), -} - # These cars have non-standard EPS torque scale factors. All others are 73 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100}) # Toyota/Lexus Safety Sense 2.0 and 2.5 -TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.LEXUS_ES_TSS2, - CAR.LEXUS_RX_TSS2, CAR.HIGHLANDER_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.LEXUS_IS_TSS2, - CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_LC_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, - CAR.CHR_TSS2} +TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2) -NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CAMRY} +NO_DSU_CAR = CAR.with_flags(ToyotaFlags.NO_DSU) # the DSU uses the AEB message for longitudinal on these cars -UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC, CAR.LEXUS_GS_F} +UNSUPPORTED_DSU_CAR = CAR.with_flags(ToyotaFlags.UNSUPPORTED_DSU) # these cars have a radar which sends ACC messages instead of the camera -RADAR_ACC_CAR = {CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2} +RADAR_ACC_CAR = CAR.with_flags(ToyotaFlags.RADAR_ACC) -# these cars use the Lane Tracing Assist (LTA) message for lateral control -ANGLE_CONTROL_CAR = {CAR.RAV4_TSS2_2023} +ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL) # no resume button press required -NO_STOP_TIMER_CAR = TSS2_CAR | {CAR.PRIUS_V, CAR.RAV4H, CAR.HIGHLANDER, CAR.SIENNA} +NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER) + +CAR_INFO = CAR.create_carinfo_map() +DBC = CAR.create_dbc_map() diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 015f941261..d437f1fac8 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -de322b3898f8fedb57036b6cf4a0605968138929 +7fe098c307b78bf1f6f003452f9ba0a0eaad83d6 From 341b81c0a5c5f378f749a8ba07514f48f0f9faa5 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Fri, 1 Mar 2024 17:18:03 +0000 Subject: [PATCH 19/94] Ford: use flags for CANFD (#31664) --- selfdrive/car/ford/carcontroller.py | 6 +++--- selfdrive/car/ford/carstate.py | 16 +++++++-------- selfdrive/car/ford/interface.py | 6 +++--- selfdrive/car/ford/values.py | 30 ++++++++++++++++++----------- 4 files changed, 33 insertions(+), 25 deletions(-) diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py index 61c46674db..390325a8ec 100644 --- a/selfdrive/car/ford/carcontroller.py +++ b/selfdrive/car/ford/carcontroller.py @@ -1,9 +1,9 @@ from cereal import car -from openpilot.common.numpy_fast import clip from opendbc.can.packer import CANPacker +from openpilot.common.numpy_fast import clip from openpilot.selfdrive.car import apply_std_steer_angle_limits from openpilot.selfdrive.car.ford import fordcan -from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams +from openpilot.selfdrive.car.ford.values import CarControllerParams, FordFlags from openpilot.selfdrive.car.interfaces import CarControllerBase from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX @@ -70,7 +70,7 @@ class CarController(CarControllerBase): self.apply_curvature_last = apply_curvature - if self.CP.carFingerprint in CANFD_CAR: + if self.CP.flags & FordFlags.CANFD: # TODO: extended mode mode = 1 if CC.latActive else 0 counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 34006e8da4..039e245754 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -1,10 +1,10 @@ from cereal import car -from openpilot.common.conversions import Conversions as CV from opendbc.can.can_define import CANDefine from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.interfaces import CarStateBase +from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.ford.fordcan import CanBus -from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC +from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags +from openpilot.selfdrive.car.interfaces import CarStateBase GearShifter = car.CarState.GearShifter TransmissionType = car.CarParams.TransmissionType @@ -49,7 +49,7 @@ class CarState(CarStateBase): ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3) ret.espDisabled = cp.vl["Cluster_Info1_FD1"]["DrvSlipCtlMde_D_Rq"] != 0 # 0 is default mode - if self.CP.carFingerprint in CANFD_CAR: + if self.CP.flags & FordFlags.CANFD: # this signal is always 0 on non-CAN FD cars ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3) @@ -91,7 +91,7 @@ class CarState(CarStateBase): # blindspot sensors if self.CP.enableBsm: - cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp + cp_bsm = cp_cam if self.CP.flags & FordFlags.CANFD else cp ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0 ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0 @@ -122,7 +122,7 @@ class CarState(CarStateBase): ("RCMStatusMessage2_FD1", 10), ] - if CP.carFingerprint in CANFD_CAR: + if CP.flags & FordFlags.CANFD: messages += [ ("Lane_Assist_Data3_FD1", 33), ] @@ -137,7 +137,7 @@ class CarState(CarStateBase): ("BCM_Lamp_Stat_FD1", 1), ] - if CP.enableBsm and CP.carFingerprint not in CANFD_CAR: + if CP.enableBsm and not (CP.flags & FordFlags.CANFD): messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), @@ -155,7 +155,7 @@ class CarState(CarStateBase): ("IPMA_Data", 1), ] - if CP.enableBsm and CP.carFingerprint in CANFD_CAR: + if CP.enableBsm and CP.flags & FordFlags.CANFD: messages += [ ("Side_Detect_L_Stat", 5), ("Side_Detect_R_Stat", 5), diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index fd4c381f88..a79b4af2e0 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -3,7 +3,7 @@ from panda import Panda from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.ford.fordcan import CanBus -from openpilot.selfdrive.car.ford.values import CANFD_CAR, Ecu +from openpilot.selfdrive.car.ford.values import Ecu, FordFlags from openpilot.selfdrive.car.interfaces import CarInterfaceBase TransmissionType = car.CarParams.TransmissionType @@ -14,7 +14,7 @@ class CarInterface(CarInterfaceBase): @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "ford" - ret.dashcamOnly = candidate in CANFD_CAR + ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD) ret.radarUnavailable = True ret.steerControlType = car.CarParams.SteerControlType.angle @@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase): ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL ret.openpilotLongitudinalControl = True - if candidate in CANFD_CAR: + if ret.flags & FordFlags.CANFD: ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1 diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index e60b7f0612..985e7bc4b2 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -1,5 +1,5 @@ from dataclasses import dataclass, field -from enum import Enum +from enum import Enum, IntFlag import panda.python.uds as uds from cereal import car @@ -39,6 +39,11 @@ class CarControllerParams: pass +class FordFlags(IntFlag): + # Static flags + CANFD = 1 + + class RADAR: DELPHI_ESR = 'ford_fusion_2018_adas' DELPHI_MRR = 'FORD_CADS' @@ -57,7 +62,7 @@ class FordCarInfo(CarInfo): package: str = "Co-Pilot360 Assist+" def init_make(self, CP: car.CarParams): - harness = CarHarness.ford_q4 if CP.carFingerprint in CANFD_CAR else CarHarness.ford_q3 + harness = CarHarness.ford_q4 if CP.flags & FordFlags.CANFD else CarHarness.ford_q3 if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1, CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1): self.car_parts = CarParts([Device.threex_angled_mount, harness]) else: @@ -69,6 +74,15 @@ class FordPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', RADAR.DELPHI_MRR)) +@dataclass +class FordCANFDPlatformConfig(FordPlatformConfig): + dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('ford_lincoln_base_pt', None)) + + def init(self): + super().init() + self.flags |= FordFlags.CANFD + + class CAR(Platforms): BRONCO_SPORT_MK1 = FordPlatformConfig( "FORD BRONCO SPORT 1ST GEN", @@ -97,19 +111,17 @@ class CAR(Platforms): ], specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), ) - F_150_MK14 = FordPlatformConfig( + F_150_MK14 = FordCANFDPlatformConfig( "FORD F-150 14TH GEN", [ FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"), ], - dbc_dict=dbc_dict('ford_lincoln_base_pt', None), specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), ) - F_150_LIGHTNING_MK1 = FordPlatformConfig( + F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( "FORD F-150 LIGHTNING 1ST GEN", FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), - dbc_dict=dbc_dict('ford_lincoln_base_pt', None), specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), ) FOCUS_MK4 = FordPlatformConfig( @@ -130,17 +142,13 @@ class CAR(Platforms): ], specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), ) - MUSTANG_MACH_E_MK1 = FordPlatformConfig( + MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( "FORD MUSTANG MACH-E 1ST GEN", FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), - dbc_dict=dbc_dict('ford_lincoln_base_pt', None), specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio ) -CANFD_CAR = {CAR.F_150_MK14, CAR.F_150_LIGHTNING_MK1, CAR.MUSTANG_MACH_E_MK1} - - DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00 ASBUILT_BLOCKS: list[tuple[int, list]] = [ From 2e0db7f8d87457d05fef8156eccb94c949623cf3 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Mar 2024 13:31:43 -0500 Subject: [PATCH 20/94] Hyundai: move car specs to platformconfig (#31661) * specs * override * fixes 1 * fix 3 * fixes 4 * fixes * fixes * fixc * fix number 723124 * that too * fixes * aa --- selfdrive/car/__init__.py | 3 + selfdrive/car/hyundai/interface.py | 191 ----------------------------- selfdrive/car/hyundai/values.py | 99 +++++++++++++-- 3 files changed, 90 insertions(+), 203 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index 27d320bb41..b30f24dad7 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -258,6 +258,9 @@ class CarSpecs: minEnableSpeed: float = -1.0 # m/s tireStiffnessFactor: float = 1.0 + def override(self, **kwargs): + return replace(self, **kwargs) + @dataclass(order=True) class PlatformConfig(Freezable): diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py index 049a63399c..69b5132806 100644 --- a/selfdrive/car/hyundai/interface.py +++ b/selfdrive/car/hyundai/interface.py @@ -1,6 +1,5 @@ from cereal import car from panda import Panda -from openpilot.common.conversions import Conversions as CV from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \ CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \ @@ -76,196 +75,6 @@ class CarInterface(CarInterfaceBase): ret.steerLimitTimer = 0.4 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) - if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN): - ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675. # ICE is ~average of 2.5L and 3.5L - ret.wheelbase = 2.885 - ret.steerRatio = 14.5 - elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022): - ret.mass = 3982. * CV.LB_TO_KG - ret.wheelbase = 2.766 - # Values from optimizer - ret.steerRatio = 16.55 # 13.8 is spec end-to-end - ret.tireStiffnessFactor = 0.82 - elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID): - ret.mass = 1513. - ret.wheelbase = 2.84 - ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.SONATA_LF: - ret.mass = 1536. - ret.wheelbase = 2.804 - ret.steerRatio = 13.27 * 1.15 # 15% higher at the center seems reasonable - elif candidate == CAR.PALISADE: - ret.mass = 1999. - ret.wheelbase = 2.90 - ret.steerRatio = 15.6 * 1.15 - ret.tireStiffnessFactor = 0.63 - elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30): - ret.mass = 1275. - ret.wheelbase = 2.7 - ret.steerRatio = 15.4 # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535 - ret.tireStiffnessFactor = 0.385 # stiffnessFactor settled on 1.0081302973865127 - ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate == CAR.ELANTRA_2021: - ret.mass = 2800. * CV.LB_TO_KG - ret.wheelbase = 2.72 - ret.steerRatio = 12.9 - ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.ELANTRA_HEV_2021: - ret.mass = 3017. * CV.LB_TO_KG - ret.wheelbase = 2.72 - ret.steerRatio = 12.9 - ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.HYUNDAI_GENESIS: - ret.mass = 2060. - ret.wheelbase = 3.01 - ret.steerRatio = 16.5 - ret.minSteerSpeed = 60 * CV.KPH_TO_MS - elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022, CAR.KONA_EV_2ND_GEN): - ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743., CAR.KONA_EV_2ND_GEN: 1740.}.get(candidate, 1275.) - ret.wheelbase = {CAR.KONA_EV_2ND_GEN: 2.66, }.get(candidate, 2.6) - ret.steerRatio = {CAR.KONA_EV_2ND_GEN: 13.6, }.get(candidate, 13.42) # Spec - ret.tireStiffnessFactor = 0.385 - elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV): - ret.mass = 1490. # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx - ret.wheelbase = 2.7 - ret.steerRatio = 13.73 # Spec - ret.tireStiffnessFactor = 0.385 - if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019): - ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6): - ret.mass = 1948 - ret.wheelbase = 2.97 - ret.steerRatio = 14.26 - ret.tireStiffnessFactor = 0.65 - elif candidate == CAR.VELOSTER: - ret.mass = 2917. * CV.LB_TO_KG - ret.wheelbase = 2.80 - ret.steerRatio = 13.75 * 1.15 - ret.tireStiffnessFactor = 0.5 - elif candidate == CAR.TUCSON: - ret.mass = 3520. * CV.LB_TO_KG - ret.wheelbase = 2.67 - ret.steerRatio = 14.00 * 1.15 - ret.tireStiffnessFactor = 0.385 - elif candidate == CAR.TUCSON_4TH_GEN: - ret.mass = 1630. # average - ret.wheelbase = 2.756 - ret.steerRatio = 16. - ret.tireStiffnessFactor = 0.385 - elif candidate == CAR.SANTA_CRUZ_1ST_GEN: - ret.mass = 1870. # weight from Limited trim - the only supported trim - ret.wheelbase = 3.000 - # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf - ret.steerRatio = 14.2 - elif candidate == CAR.CUSTIN_1ST_GEN: - ret.mass = 1690. # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0 - ret.wheelbase = 3.055 - ret.steerRatio = 17.0 # from learner - elif candidate == CAR.STARIA_4TH_GEN: - ret.mass = 2205. - ret.wheelbase = 3.273 - ret.steerRatio = 11.94 # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf - - # Kia - elif candidate == CAR.KIA_SORENTO: - ret.mass = 1985. - ret.wheelbase = 2.78 - ret.steerRatio = 14.4 * 1.1 # 10% higher at the center seems reasonable - elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_PHEV_2022): - ret.mass = 3543. * CV.LB_TO_KG # average of all the cars - ret.wheelbase = 2.7 - ret.steerRatio = 13.6 # average of all the cars - ret.tireStiffnessFactor = 0.385 - if candidate == CAR.KIA_NIRO_PHEV: - ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate == CAR.KIA_SELTOS: - ret.mass = 1337. - ret.wheelbase = 2.63 - ret.steerRatio = 14.56 - elif candidate == CAR.KIA_SPORTAGE_5TH_GEN: - ret.mass = 1725. # weight from SX and above trims, average of FWD and AWD versions - ret.wheelbase = 2.756 - ret.steerRatio = 13.6 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications - elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL): - ret.mass = 3558. * CV.LB_TO_KG - ret.wheelbase = 2.80 - ret.steerRatio = 13.75 - ret.tireStiffnessFactor = 0.5 - if candidate == CAR.KIA_OPTIMA_G4: - ret.minSteerSpeed = 32 * CV.MPH_TO_MS - elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022): - ret.mass = 1825. - ret.wheelbase = 2.78 - ret.steerRatio = 14.4 * 1.15 # 15% higher at the center seems reasonable - elif candidate == CAR.KIA_FORTE: - ret.mass = 2878. * CV.LB_TO_KG - ret.wheelbase = 2.80 - ret.steerRatio = 13.75 - ret.tireStiffnessFactor = 0.5 - elif candidate == CAR.KIA_CEED: - ret.mass = 1450. - ret.wheelbase = 2.65 - ret.steerRatio = 13.75 - ret.tireStiffnessFactor = 0.5 - elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020): - ret.mass = 3381. * CV.LB_TO_KG - ret.wheelbase = 2.85 - ret.steerRatio = 13.27 # 2021 Kia K5 Steering Ratio (all trims) - ret.tireStiffnessFactor = 0.5 - elif candidate == CAR.KIA_EV6: - ret.mass = 2055 - ret.wheelbase = 2.9 - ret.steerRatio = 16. - ret.tireStiffnessFactor = 0.65 - elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN): - ret.wheelbase = 2.81 - ret.steerRatio = 13.5 # average of the platforms - if candidate == CAR.KIA_SORENTO_4TH_GEN: - ret.mass = 3957 * CV.LB_TO_KG - else: - ret.mass = 4396 * CV.LB_TO_KG - elif candidate == CAR.KIA_CARNIVAL_4TH_GEN: - ret.mass = 2087. - ret.wheelbase = 3.09 - ret.steerRatio = 14.23 - elif candidate == CAR.KIA_K8_HEV_1ST_GEN: - ret.mass = 1630. # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid - ret.wheelbase = 2.895 - ret.steerRatio = 13.27 # guesstimate from K5 platform - - # Genesis - elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN: - ret.mass = 2205 - ret.wheelbase = 2.9 - # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. - ret.steerRatio = 12.6 - elif candidate == CAR.GENESIS_G70: - ret.steerActuatorDelay = 0.1 - ret.mass = 1640.0 - ret.wheelbase = 2.84 - ret.steerRatio = 13.56 - elif candidate == CAR.GENESIS_G70_2020: - ret.mass = 3673.0 * CV.LB_TO_KG - ret.wheelbase = 2.83 - ret.steerRatio = 12.9 - elif candidate == CAR.GENESIS_GV70_1ST_GEN: - ret.mass = 1950. - ret.wheelbase = 2.87 - ret.steerRatio = 14.6 - elif candidate == CAR.GENESIS_G80: - ret.mass = 2060. - ret.wheelbase = 3.01 - ret.steerRatio = 16.5 - elif candidate == CAR.GENESIS_G90: - ret.mass = 2200. - ret.wheelbase = 3.15 - ret.steerRatio = 12.069 - elif candidate == CAR.GENESIS_GV80: - ret.mass = 2258. - ret.wheelbase = 2.95 - ret.steerRatio = 14.14 - # *** longitudinal control *** if candidate in CANFD_CAR: ret.longitudinalTuning.kpV = [0.1] diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index d23d3a0a75..ef17ffc4bf 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -5,7 +5,7 @@ from enum import Enum, IntFlag from cereal import car from panda.python import uds from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car import CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16 @@ -93,6 +93,8 @@ class HyundaiFlags(IntFlag): CLUSTER_GEARS = 2 ** 21 TCU_GEARS = 2 ** 22 + MIN_STEER_32_MPH = 2 ** 23 + class Footnote(Enum): CANFD = CarFootnote( @@ -118,6 +120,9 @@ class HyundaiPlatformConfig(PlatformConfig): if self.flags & HyundaiFlags.MANDO_RADAR: self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated') + if self.flags & HyundaiFlags.MIN_STEER_32_MPH: + self.specs = self.specs.override(minSteerSpeed = 32 * CV.MPH_TO_MS) + @dataclass class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig): @@ -133,6 +138,7 @@ class CAR(Platforms): AZERA_6TH_GEN = HyundaiPlatformConfig( "HYUNDAI AZERA 6TH GEN", HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), ) AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( "HYUNDAI AZERA HYBRID 6TH GEN", @@ -140,6 +146,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], + specs=CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), flags=HyundaiFlags.HYBRID ) ELANTRA = HyundaiPlatformConfig( @@ -149,7 +156,9 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Elantra 2017-18", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])), HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), ], - flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127 + specs=CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) ELANTRA_GT_I30 = HyundaiPlatformConfig( "HYUNDAI I30 N LINE 2019 & GT 2018 DCT", @@ -157,17 +166,20 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS + specs=ELANTRA.specs, + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) ELANTRA_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA 2021", HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8 ) ELANTRA_HEV_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA HYBRID 2021", HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) HYUNDAI_GENESIS = HyundaiPlatformConfig( @@ -177,100 +189,120 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], + specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY ) IONIQ = HyundaiPlatformConfig( "HYUNDAI IONIQ HYBRID 2017-2019", HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), - flags=HyundaiFlags.HYBRID + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_HEV_2022 = HyundaiPlatformConfig( "HYUNDAI IONIQ HYBRID 2020-2022", HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY ) IONIQ_EV_LTD = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC LIMITED 2019", HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH ) IONIQ_EV_2020 = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC 2020", HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV ) IONIQ_PHEV_2019 = HyundaiPlatformConfig( "HYUNDAI IONIQ PLUG-IN HYBRID 2019", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - flags=HyundaiFlags.HYBRID + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH ) IONIQ_PHEV = HyundaiPlatformConfig( "HYUNDAI IONIQ PHEV 2020", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID ) KONA = HyundaiPlatformConfig( "HYUNDAI KONA 2020", HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), + specs=CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CLUSTER_GEARS ) KONA_EV = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2019", HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + specs=CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV ) KONA_EV_2022 = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2022", HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), + specs=CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV ) KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI KONA ELECTRIC 2ND GEN", HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), + specs=CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE ) KONA_HEV = HyundaiPlatformConfig( "HYUNDAI KONA HYBRID 2020", HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, + specs=CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID ) SANTA_FE = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2019", HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", car_parts=CarParts.common([CarHarness.hyundai_d])), + specs=CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) SANTA_FE_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2022", HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), + specs=SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 ) SANTA_FE_HEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + specs=SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), + specs=SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) SONATA = HyundaiPlatformConfig( "HYUNDAI SONATA 2020", HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) SONATA_LF = HyundaiPlatformConfig( "HYUNDAI SONATA 2019", HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), + specs=CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS ) STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI STARIA 4TH GEN", HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf ) TUCSON = HyundaiPlatformConfig( "HYUNDAI TUCSON 2019", @@ -278,6 +310,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], + specs=CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), flags=HyundaiFlags.TCU_GEARS ) PALISADE = HyundaiPlatformConfig( @@ -286,16 +319,19 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], + specs=CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) VELOSTER = HyundaiPlatformConfig( "HYUNDAI VELOSTER 2019", HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), + specs=CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5), flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS ) SONATA_HYBRID = HyundaiPlatformConfig( "HYUNDAI SONATA HYBRID 2021", HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=SONATA.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) IONIQ_5 = HyundaiCanFDPlatformConfig( @@ -305,11 +341,13 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], + specs=CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV ) IONIQ_6 = HyundaiCanFDPlatformConfig( "HYUNDAI IONIQ 6 2023", HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), + specs=IONIQ_5.specs, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE ) TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -319,14 +357,18 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], + specs=CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385), ) SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI SANTA CRUZ 1ST GEN", HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), + # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf + specs=CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), ) CUSTIN_1ST_GEN = HyundaiPlatformConfig( "HYUNDAI CUSTIN 1ST GEN", HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner flags=HyundaiFlags.CHECKSUM_CRC8 ) @@ -334,23 +376,28 @@ class CAR(Platforms): KIA_FORTE = HyundaiPlatformConfig( "KIA FORTE E 2018 & GT 2021", [ - HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), - ] + HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), + HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), + ], + specs=CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) ) KIA_K5_2021 = HyundaiPlatformConfig( "KIA K5 2021", HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) flags=HyundaiFlags.CHECKSUM_CRC8 ) KIA_K5_HEV_2020 = HyundaiPlatformConfig( "KIA K5 HYBRID 2020", HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=KIA_K5_2021.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( "KIA K8 HYBRID 1ST GEN", HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), + # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform + specs=CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) ) KIA_NIRO_EV = HyundaiPlatformConfig( "KIA NIRO EV 2020", @@ -360,11 +407,13 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), ], + specs=CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV ) KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO EV 2ND GEN", HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=KIA_NIRO_EV.specs, flags=HyundaiFlags.EV ) KIA_NIRO_PHEV = HyundaiPlatformConfig( @@ -373,7 +422,8 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + specs=KIA_NIRO_EV.specs, + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH ) KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( "KIA NIRO PLUG-IN HYBRID 2022", @@ -381,6 +431,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), ], + specs=KIA_NIRO_EV.specs, flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR ) KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( @@ -389,37 +440,44 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], + specs=KIA_NIRO_EV.specs, flags=HyundaiFlags.HYBRID ) KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO HYBRID 2ND GEN", HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=KIA_NIRO_EV.specs, ) KIA_OPTIMA_G4 = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN", HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 - flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), + specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS ) # TODO: may support adjacent years. may have a non-zero minimum steering speed KIA_OPTIMA_H = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 2017 & SPORTS 2019", HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), + specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY ) KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), + specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL ) KIA_SELTOS = HyundaiPlatformConfig( "KIA SELTOS 2021", HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), + specs=CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), flags=HyundaiFlags.CHECKSUM_CRC8 ) KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( @@ -428,6 +486,8 @@ class CAR(Platforms): HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), ], + # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications + specs=CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6), ) KIA_SORENTO = HyundaiPlatformConfig( "KIA SORENTO GT LINE 2018", @@ -436,11 +496,13 @@ class CAR(Platforms): car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], + specs=CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL ) KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( "KIA SORENTO 4TH GEN", HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms flags=HyundaiFlags.RADAR_SCC ) KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -449,20 +511,24 @@ class CAR(Platforms): HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), ], + specs=CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms flags=HyundaiFlags.RADAR_SCC ) KIA_STINGER = HyundaiPlatformConfig( "KIA STINGER GT2 2018", HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", - car_parts=CarParts.common([CarHarness.hyundai_c])) + car_parts=CarParts.common([CarHarness.hyundai_c])), + specs=CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable ) KIA_STINGER_2022 = HyundaiPlatformConfig( "KIA STINGER 2022", HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), + specs=KIA_STINGER.specs, ) KIA_CEED = HyundaiPlatformConfig( "KIA CEED INTRO ED 2019", HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), + specs=CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY ) KIA_EV6 = HyundaiCanFDPlatformConfig( @@ -472,6 +538,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], + specs=CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV ) KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -480,6 +547,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], + specs=CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23), flags=HyundaiFlags.RADAR_SCC ) @@ -490,16 +558,19 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], + specs=CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. flags=HyundaiFlags.EV ) GENESIS_G70 = HyundaiPlatformConfig( "GENESIS G70 2018", HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + specs=CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), flags=HyundaiFlags.LEGACY ) GENESIS_G70_2020 = HyundaiPlatformConfig( "GENESIS G70 2020", HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), + specs=CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), flags=HyundaiFlags.MANDO_RADAR ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( @@ -508,20 +579,24 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), ], + specs=CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6), flags=HyundaiFlags.RADAR_SCC ) GENESIS_G80 = HyundaiPlatformConfig( "GENESIS G80 2017", HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), + specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), flags=HyundaiFlags.LEGACY ) GENESIS_G90 = HyundaiPlatformConfig( "GENESIS G90 2017", HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), + specs=CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), ) GENESIS_GV80 = HyundaiCanFDPlatformConfig( "GENESIS GV80 2023", HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), + specs=CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), flags=HyundaiFlags.RADAR_SCC ) From a5ee1638b8d4f7dde23b9160e26d715cd1420202 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Mar 2024 13:32:31 -0500 Subject: [PATCH 21/94] Body: move to car specs (#31666) * specs * override * fixes 1 * fix 3 * fixes 4 * fixes * fixes * fixc * fix number 723124 * that too * fixes * aa * do body real quick too * body too --- selfdrive/car/body/interface.py | 4 ---- selfdrive/car/body/values.py | 3 ++- selfdrive/car/tests/test_platform_configs.py | 3 +-- 3 files changed, 3 insertions(+), 7 deletions(-) diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py index 12a2d5f304..4d72d2f604 100644 --- a/selfdrive/car/body/interface.py +++ b/selfdrive/car/body/interface.py @@ -14,14 +14,10 @@ class CarInterface(CarInterfaceBase): ret.minSteerSpeed = -math.inf ret.maxLateralAccel = math.inf # TODO: set to a reasonable value - ret.steerRatio = 0.5 ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0. - ret.mass = 9 - ret.wheelbase = 0.406 ret.wheelSpeedFactor = SPEED_FROM_RPM - ret.centerToFront = ret.wheelbase * 0.44 ret.radarUnavailable = True ret.openpilotLongitudinalControl = True diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 441905f28b..d0dd36e15f 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -1,5 +1,5 @@ from cereal import car -from openpilot.selfdrive.car import PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -24,6 +24,7 @@ class CAR(Platforms): "COMMA BODY", CarInfo("comma body", package="All"), dbc_dict('comma_body', None), + specs=CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44) ) diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py index 931780963f..cca752705b 100755 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -16,8 +16,7 @@ class TestPlatformConfigs(unittest.TestCase): self.assertIn("pt", platform.config.dbc_dict) self.assertTrue(len(platform.config.platform_str) > 0) - # enable when all cars have specs - #self.assertIsNotNone(platform.config.specs) + self.assertIsNotNone(platform.config.specs) if __name__ == "__main__": From b0eae8c1b7264b2d0c63ee2957689bc1317616f1 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Mar 2024 14:31:51 -0500 Subject: [PATCH 22/94] platformconfig and carspecs are now required, carspecs no longer kwarg (#31667) * required * mock can be a platform! * default is mock * fix that * and that one --- selfdrive/car/__init__.py | 5 +- selfdrive/car/body/values.py | 2 +- selfdrive/car/car_helpers.py | 15 +- selfdrive/car/chrysler/values.py | 20 +-- selfdrive/car/ford/values.py | 16 +-- selfdrive/car/gm/values.py | 28 ++-- selfdrive/car/honda/values.py | 44 +++--- selfdrive/car/hyundai/values.py | 130 +++++++++--------- selfdrive/car/interfaces.py | 18 ++- selfdrive/car/mazda/values.py | 12 +- selfdrive/car/mock/values.py | 16 ++- selfdrive/car/nissan/values.py | 10 +- selfdrive/car/subaru/values.py | 30 ++-- selfdrive/car/tesla/values.py | 4 +- selfdrive/car/tests/test_platform_configs.py | 10 +- selfdrive/car/toyota/values.py | 68 ++++----- selfdrive/car/volkswagen/values.py | 56 ++++---- .../controls/tests/test_state_machine.py | 5 +- 18 files changed, 245 insertions(+), 244 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index b30f24dad7..c7af2da686 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -266,10 +266,11 @@ class CarSpecs: class PlatformConfig(Freezable): platform_str: str car_info: CarInfos + specs: CarSpecs + dbc_dict: DbcDict - flags: int = 0 - specs: CarSpecs | None = None + flags: int = 0 def __hash__(self) -> int: return hash(self.platform_str) diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index d0dd36e15f..82b00ee47d 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -23,8 +23,8 @@ class CAR(Platforms): BODY = PlatformConfig( "COMMA BODY", CarInfo("comma body", package="All"), + CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44), dbc_dict('comma_body', None), - specs=CarSpecs(mass=9, wheelbase=0.406, steerRatio=0.5, centerToFrontRatio=0.44) ) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 339be1912c..74499fbbb0 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -11,6 +11,7 @@ from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing +from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.common.swaglog import cloudlog import cereal.messaging as messaging from openpilot.selfdrive.car import gen_empty_fingerprint @@ -191,7 +192,7 @@ def fingerprint(logcan, sendcan, num_pandas): fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, vin_rx_bus=vin_rx_bus, fingerprints=repr(finger), fw_query_time=fw_query_time, error=True) - car_platform = PLATFORMS.get(car_fingerprint, car_fingerprint) + car_platform = PLATFORMS.get(car_fingerprint, MOCK.MOCK) return car_platform, finger, vin, car_fw, source, exact_match @@ -212,14 +213,14 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): return CarInterface(CP, CarController, CarState), CP -def write_car_param(fingerprint="mock"): +def write_car_param(platform=MOCK.MOCK): params = Params() - CarInterface, _, _ = interfaces[fingerprint] - CP = CarInterface.get_non_essential_params(fingerprint) + CarInterface, _, _ = interfaces[platform] + CP = CarInterface.get_non_essential_params(platform) params.put("CarParams", CP.to_bytes()) def get_demo_car_params(): - fingerprint="mock" - CarInterface, _, _ = interfaces[fingerprint] - CP = CarInterface.get_non_essential_params(fingerprint) + platform = MOCK.MOCK + CarInterface, _, _ = interfaces[platform] + CP = CarInterface.get_non_essential_params(platform) return CP diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index d6bfd4e0cb..78b22bea45 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -35,22 +35,22 @@ class CAR(Platforms): PACIFICA_2017_HYBRID = ChryslerPlatformConfig( "CHRYSLER PACIFICA HYBRID 2017", ChryslerCarInfo("Chrysler Pacifica Hybrid 2017"), - specs=ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), + ChryslerCarSpecs(mass=2242., wheelbase=3.089, steerRatio=16.2), ) PACIFICA_2018_HYBRID = ChryslerPlatformConfig( "CHRYSLER PACIFICA HYBRID 2018", ChryslerCarInfo("Chrysler Pacifica Hybrid 2018"), - specs=PACIFICA_2017_HYBRID.specs, + PACIFICA_2017_HYBRID.specs, ) PACIFICA_2019_HYBRID = ChryslerPlatformConfig( "CHRYSLER PACIFICA HYBRID 2019", ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"), - specs=PACIFICA_2017_HYBRID.specs, + PACIFICA_2017_HYBRID.specs, ) PACIFICA_2018 = ChryslerPlatformConfig( "CHRYSLER PACIFICA 2018", ChryslerCarInfo("Chrysler Pacifica 2017-18"), - specs=PACIFICA_2017_HYBRID.specs, + PACIFICA_2017_HYBRID.specs, ) PACIFICA_2020 = ChryslerPlatformConfig( "CHRYSLER PACIFICA 2020", @@ -58,35 +58,35 @@ class CAR(Platforms): ChryslerCarInfo("Chrysler Pacifica 2019-20"), ChryslerCarInfo("Chrysler Pacifica 2021-23", package="All"), ], - specs=PACIFICA_2017_HYBRID.specs, + PACIFICA_2017_HYBRID.specs, ) # Dodge DODGE_DURANGO = ChryslerPlatformConfig( "DODGE DURANGO 2021", ChryslerCarInfo("Dodge Durango 2020-21"), - specs=PACIFICA_2017_HYBRID.specs, + PACIFICA_2017_HYBRID.specs, ) # Jeep JEEP_GRAND_CHEROKEE = ChryslerPlatformConfig( # includes 2017 Trailhawk "JEEP GRAND CHEROKEE V6 2018", ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"), - specs=ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), + ChryslerCarSpecs(mass=1778., wheelbase=2.71, steerRatio=16.7), ) JEEP_GRAND_CHEROKEE_2019 = ChryslerPlatformConfig( # includes 2020 Trailhawk "JEEP GRAND CHEROKEE 2019", ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"), - specs=JEEP_GRAND_CHEROKEE.specs, + JEEP_GRAND_CHEROKEE.specs, ) # Ram RAM_1500 = ChryslerPlatformConfig( "RAM 1500 5TH GEN", ChryslerCarInfo("Ram 1500 2019-24", car_parts=CarParts.common([CarHarness.ram])), + ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5), dbc_dict('chrysler_ram_dt_generated', None), - specs=ChryslerCarSpecs(mass=2493., wheelbase=3.88, steerRatio=16.3, minSteerSpeed=14.5), ) RAM_HD = ChryslerPlatformConfig( "RAM HD 5TH GEN", @@ -94,8 +94,8 @@ class CAR(Platforms): ChryslerCarInfo("Ram 2500 2020-24", car_parts=CarParts.common([CarHarness.ram])), ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])), ], + ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.), dbc_dict('chrysler_ram_hd_generated', None), - specs=ChryslerCarSpecs(mass=3405., wheelbase=3.785, steerRatio=15.61, minSteerSpeed=16.), ) diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 985e7bc4b2..fe776fea72 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -87,7 +87,7 @@ class CAR(Platforms): BRONCO_SPORT_MK1 = FordPlatformConfig( "FORD BRONCO SPORT 1ST GEN", FordCarInfo("Ford Bronco Sport 2021-22"), - specs=CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), + CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7), ) ESCAPE_MK4 = FordPlatformConfig( "FORD ESCAPE 4TH GEN", @@ -99,7 +99,7 @@ class CAR(Platforms): FordCarInfo("Ford Kuga Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), FordCarInfo("Ford Kuga Plug-in Hybrid 2020-22", "Adaptive Cruise Control with Lane Centering"), ], - specs=CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), + CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7), ) EXPLORER_MK6 = FordPlatformConfig( "FORD EXPLORER 6TH GEN", @@ -109,7 +109,7 @@ class CAR(Platforms): FordCarInfo("Lincoln Aviator 2020-23", "Co-Pilot360 Plus"), FordCarInfo("Lincoln Aviator Plug-in Hybrid 2020-23", "Co-Pilot360 Plus"), # Grand Touring only ], - specs=CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), + CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8), ) F_150_MK14 = FordCANFDPlatformConfig( "FORD F-150 14TH GEN", @@ -117,12 +117,12 @@ class CAR(Platforms): FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"), FordCarInfo("Ford F-150 Hybrid 2023", "Co-Pilot360 Active 2.0"), ], - specs=CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), + CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0), ) F_150_LIGHTNING_MK1 = FordCANFDPlatformConfig( "FORD F-150 LIGHTNING 1ST GEN", FordCarInfo("Ford F-150 Lightning 2021-23", "Co-Pilot360 Active 2.0"), - specs=CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), + CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9), ) FOCUS_MK4 = FordPlatformConfig( "FORD FOCUS 4TH GEN", @@ -130,7 +130,7 @@ class CAR(Platforms): FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), FordCarInfo("Ford Focus Hybrid 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]), # mHEV only ], - specs=CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), + CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0), ) MAVERICK_MK1 = FordPlatformConfig( "FORD MAVERICK 1ST GEN", @@ -140,12 +140,12 @@ class CAR(Platforms): FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"), FordCarInfo("Ford Maverick Hybrid 2023", "Co-Pilot360 Assist"), ], - specs=CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), + CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0), ) MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig( "FORD MUSTANG MACH-E 1ST GEN", FordCarInfo("Ford Mustang Mach-E 2021-23", "Co-Pilot360 Active 2.0"), - specs=CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio + CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0), # TODO: check steer ratio ) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 59b4b6ea30..e3414df2bf 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -88,52 +88,52 @@ class CAR(Platforms): HOLDEN_ASTRA = GMPlatformConfig( "HOLDEN ASTRA RS-V BK 2017", GMCarInfo("Holden Astra 2017"), - specs=CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), + CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), ) VOLT = GMPlatformConfig( "CHEVROLET VOLT PREMIER 2017", GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), - specs=CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45), + CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45), ) CADILLAC_ATS = GMPlatformConfig( "CADILLAC ATS Premium Performance 2018", GMCarInfo("Cadillac ATS Premium Performance 2018"), - specs=CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), + CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), ) MALIBU = GMPlatformConfig( "CHEVROLET MALIBU PREMIER 2017", GMCarInfo("Chevrolet Malibu Premier 2017"), - specs=CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), + CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), ) ACADIA = GMPlatformConfig( "GMC ACADIA DENALI 2018", GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), - specs=CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), + CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), ) BUICK_LACROSSE = GMPlatformConfig( "BUICK LACROSSE 2017", GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), - specs=CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), + CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), ) BUICK_REGAL = GMPlatformConfig( "BUICK REGAL ESSENCE 2018", GMCarInfo("Buick Regal Essence 2018"), - specs=CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), + CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), ) ESCALADE = GMPlatformConfig( "CADILLAC ESCALADE 2017", GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), - specs=CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), + CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), ) ESCALADE_ESV = GMPlatformConfig( "CADILLAC ESCALADE ESV 2016", GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - specs=CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3), + CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3), ) ESCALADE_ESV_2019 = GMPlatformConfig( "CADILLAC ESCALADE ESV 2019", GMCarInfo("Cadillac Escalade ESV 2019", "Adaptive Cruise Control (ACC) & LKAS"), - specs=ESCALADE_ESV.specs, + ESCALADE_ESV.specs, ) BOLT_EUV = GMPlatformConfig( "CHEVROLET BOLT EUV 2022", @@ -141,7 +141,7 @@ class CAR(Platforms): GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), ], - specs=CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4), + CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4), ) SILVERADO = GMPlatformConfig( "CHEVROLET SILVERADO 1500 2020", @@ -149,17 +149,17 @@ class CAR(Platforms): GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), ], - specs=CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3), + CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3), ) EQUINOX = GMPlatformConfig( "CHEVROLET EQUINOX 2019", GMCarInfo("Chevrolet Equinox 2019-22"), - specs=CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), + CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), ) TRAILBLAZER = GMPlatformConfig( "CHEVROLET TRAILBLAZER 2021", GMCarInfo("Chevrolet Trailblazer 2021-22"), - specs=CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4), + CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4), ) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index abe710528c..5e2e6b52a0 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -116,8 +116,8 @@ class CAR(Platforms): HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], + CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end dbc_dict('honda_accord_2018_can_generated', None), - specs=CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end flags=HondaFlags.BOSCH, ) CIVIC_BOSCH = HondaPlatformConfig( @@ -127,15 +127,15 @@ class CAR(Platforms): footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS), HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS), ], + CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), - specs=CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec flags=HondaFlags.BOSCH ) CIVIC_BOSCH_DIESEL = HondaPlatformConfig( "HONDA CIVIC SEDAN 1.6 DIESEL 2019", None, # don't show in docs + CIVIC_BOSCH.specs, dbc_dict('honda_accord_2018_can_generated', None), - specs=CIVIC_BOSCH.specs, flags=HondaFlags.BOSCH ) CIVIC_2022 = HondaPlatformConfig( @@ -144,50 +144,50 @@ class CAR(Platforms): HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), HondaCarInfo("Honda Civic Hatchback 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), ], + CIVIC_BOSCH.specs, dbc_dict('honda_civic_ex_2022_can_generated', None), - specs=CIVIC_BOSCH.specs, flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, ) CRV_5G = HondaPlatformConfig( "HONDA CR-V 2017", HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), - specs=CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end flags=HondaFlags.BOSCH, ) CRV_HYBRID = HondaPlatformConfig( "HONDA CR-V HYBRID 2019", HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end dbc_dict('honda_accord_2018_can_generated', None), - specs=CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end flags=HondaFlags.BOSCH ) HRV_3G = HondaPlatformConfig( "HONDA HR-V 2023", HondaCarInfo("Honda HR-V 2023", "All"), + CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), dbc_dict('honda_civic_ex_2022_can_generated', None), - specs=CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS ) ACURA_RDX_3G = HondaPlatformConfig( "ACURA RDX 2020", HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec dbc_dict('acura_rdx_2020_can_generated', None), - specs=CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec flags=HondaFlags.BOSCH ) INSIGHT = HondaPlatformConfig( "HONDA INSIGHT 2019", HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec dbc_dict('honda_insight_ex_2019_can_generated', None), - specs=CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec flags=HondaFlags.BOSCH ) HONDA_E = HondaPlatformConfig( "HONDA E 2020", HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), + CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), dbc_dict('acura_rdx_2020_can_generated', None), - specs=CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), flags=HondaFlags.BOSCH ) @@ -195,64 +195,64 @@ class CAR(Platforms): ACURA_ILX = HondaPlatformConfig( "ACURA ILX 2016", HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), + CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV = HondaPlatformConfig( "HONDA CR-V 2016", HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV_EU = HondaPlatformConfig( "HONDA CR-V EU 2016", None, # Euro version of CRV Touring, don't show in docs + CRV.specs, dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CRV.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FIT = HondaPlatformConfig( "HONDA FIT 2018", HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FREED = HondaPlatformConfig( "HONDA FREED 2020", HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) HRV = HondaPlatformConfig( "HONDA HRV 2019", HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), + HRV_3G.specs, dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - specs=HRV_3G.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) ODYSSEY = HondaPlatformConfig( "HONDA ODYSSEY 2018", HondaCarInfo("Honda Odyssey 2018-20"), + CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL ) ODYSSEY_CHN = HondaPlatformConfig( "HONDA ODYSSEY CHN 2019", None, # Chinese version of Odyssey, don't show in docs + ODYSSEY.specs, dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), - specs=ODYSSEY.specs, flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES ) ACURA_RDX = HondaPlatformConfig( "ACURA RDX 2018", HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) PILOT = HondaPlatformConfig( @@ -261,22 +261,22 @@ class CAR(Platforms): HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], + CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) RIDGELINE = HondaPlatformConfig( "HONDA RIDGELINE 2017", HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), + CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CIVIC = HondaPlatformConfig( "HONDA CIVIC 2016", HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), + CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - specs=CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, ) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ef17ffc4bf..8802a36f46 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -138,7 +138,7 @@ class CAR(Platforms): AZERA_6TH_GEN = HyundaiPlatformConfig( "HYUNDAI AZERA 6TH GEN", HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), + CarSpecs(mass=1600, wheelbase=2.885, steerRatio=14.5), ) AZERA_HEV_6TH_GEN = HyundaiPlatformConfig( "HYUNDAI AZERA HYBRID 6TH GEN", @@ -146,7 +146,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Azera Hybrid 2019", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], - specs=CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), + CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), flags=HyundaiFlags.HYBRID ) ELANTRA = HyundaiPlatformConfig( @@ -157,7 +157,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Elantra 2019", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_g])), ], # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127 - specs=CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), + CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) ELANTRA_GT_I30 = HyundaiPlatformConfig( @@ -166,20 +166,20 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - specs=ELANTRA.specs, + ELANTRA.specs, flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) ELANTRA_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA 2021", HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), + CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8 ) ELANTRA_HEV_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA HYBRID 2021", HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), + CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) HYUNDAI_GENESIS = HyundaiPlatformConfig( @@ -189,120 +189,120 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], - specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), + CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY ) IONIQ = HyundaiPlatformConfig( "HYUNDAI IONIQ HYBRID 2017-2019", HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_HEV_2022 = HyundaiPlatformConfig( "HYUNDAI IONIQ HYBRID 2020-2022", HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY ) IONIQ_EV_LTD = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC LIMITED 2019", HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH ) IONIQ_EV_2020 = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC 2020", HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV ) IONIQ_PHEV_2019 = HyundaiPlatformConfig( "HYUNDAI IONIQ PLUG-IN HYBRID 2019", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH ) IONIQ_PHEV = HyundaiPlatformConfig( "HYUNDAI IONIQ PHEV 2020", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - specs=CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), + CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID ) KONA = HyundaiPlatformConfig( "HYUNDAI KONA 2020", HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), - specs=CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CLUSTER_GEARS ) KONA_EV = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2019", HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), - specs=CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV ) KONA_EV_2022 = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2022", HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), - specs=CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV ) KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI KONA ELECTRIC 2ND GEN", HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])), - specs=CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), + CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE ) KONA_HEV = HyundaiPlatformConfig( "HYUNDAI KONA HYBRID 2020", HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, - specs=CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), + CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), flags=HyundaiFlags.HYBRID ) SANTA_FE = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2019", HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", car_parts=CarParts.common([CarHarness.hyundai_d])), - specs=CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), + CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) SANTA_FE_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2022", HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", car_parts=CarParts.common([CarHarness.hyundai_l])), - specs=SANTA_FE.specs, + SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 ) SANTA_FE_HEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - specs=SANTA_FE.specs, + SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), - specs=SANTA_FE.specs, + SANTA_FE.specs, flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) SONATA = HyundaiPlatformConfig( "HYUNDAI SONATA 2020", HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable + CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) SONATA_LF = HyundaiPlatformConfig( "HYUNDAI SONATA 2019", HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), - specs=CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable + CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS ) STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI STARIA 4TH GEN", HyundaiCarInfo("Hyundai Staria 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf + CarSpecs(mass=2205, wheelbase=3.273, steerRatio=11.94), # https://www.hyundai.com/content/dam/hyundai/au/en/models/staria-load/premium-pip-update-2023/spec-sheet/STARIA_Load_Spec-Table_March_2023_v3.1.pdf ) TUCSON = HyundaiPlatformConfig( "HYUNDAI TUCSON 2019", @@ -310,7 +310,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], - specs=CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), + CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), flags=HyundaiFlags.TCU_GEARS ) PALISADE = HyundaiPlatformConfig( @@ -319,19 +319,19 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])), HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - specs=CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), + CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 ) VELOSTER = HyundaiPlatformConfig( "HYUNDAI VELOSTER 2019", HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), - specs=CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5), + CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5), flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS ) SONATA_HYBRID = HyundaiPlatformConfig( "HYUNDAI SONATA HYBRID 2021", HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=SONATA.specs, + SONATA.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) IONIQ_5 = HyundaiCanFDPlatformConfig( @@ -341,13 +341,13 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])), HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], - specs=CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), + CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV ) IONIQ_6 = HyundaiCanFDPlatformConfig( "HYUNDAI IONIQ 6 2023", HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), - specs=IONIQ_5.specs, + IONIQ_5.specs, flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE ) TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -357,18 +357,18 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), HyundaiCarInfo("Hyundai Tucson Hybrid 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_n])), ], - specs=CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385), + CarSpecs(mass=1630, wheelbase=2.756, steerRatio=16, tireStiffnessFactor=0.385), ) SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI SANTA CRUZ 1ST GEN", HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])), # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf - specs=CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), + CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2), ) CUSTIN_1ST_GEN = HyundaiPlatformConfig( "HYUNDAI CUSTIN 1ST GEN", HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner + CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner flags=HyundaiFlags.CHECKSUM_CRC8 ) @@ -379,25 +379,25 @@ class CAR(Platforms): HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])), HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - specs=CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) + CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5) ) KIA_K5_2021 = HyundaiPlatformConfig( "KIA K5 2021", HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) + CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) flags=HyundaiFlags.CHECKSUM_CRC8 ) KIA_K5_HEV_2020 = HyundaiPlatformConfig( "KIA K5 HYBRID 2020", HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=KIA_K5_2021.specs, + KIA_K5_2021.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID ) KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( "KIA K8 HYBRID 1ST GEN", HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), # mass: https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid, steerRatio: guesstimate from K5 platform - specs=CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) + CarSpecs(mass=1630, wheelbase=2.895, steerRatio=13.27) ) KIA_NIRO_EV = HyundaiPlatformConfig( "KIA NIRO EV 2020", @@ -407,13 +407,13 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), ], - specs=CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars + CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV ) KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO EV 2ND GEN", HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=KIA_NIRO_EV.specs, + KIA_NIRO_EV.specs, flags=HyundaiFlags.EV ) KIA_NIRO_PHEV = HyundaiPlatformConfig( @@ -422,7 +422,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], - specs=KIA_NIRO_EV.specs, + KIA_NIRO_EV.specs, flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH ) KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( @@ -431,7 +431,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2021", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), ], - specs=KIA_NIRO_EV.specs, + KIA_NIRO_EV.specs, flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR ) KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( @@ -440,44 +440,44 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Hybrid 2021", car_parts=CarParts.common([CarHarness.hyundai_d])), HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], - specs=KIA_NIRO_EV.specs, + KIA_NIRO_EV.specs, flags=HyundaiFlags.HYBRID ) KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO HYBRID 2ND GEN", HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=KIA_NIRO_EV.specs, + KIA_NIRO_EV.specs, ) KIA_OPTIMA_G4 = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN", HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 - specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH ) KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), - specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS ) # TODO: may support adjacent years. may have a non-zero minimum steering speed KIA_OPTIMA_H = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 2017 & SPORTS 2019", HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY ) KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), - specs=CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), + CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL ) KIA_SELTOS = HyundaiPlatformConfig( "KIA SELTOS 2021", HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), - specs=CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), + CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), flags=HyundaiFlags.CHECKSUM_CRC8 ) KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( @@ -487,7 +487,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])), ], # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications - specs=CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6), + CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6), ) KIA_SORENTO = HyundaiPlatformConfig( "KIA SORENTO GT LINE 2018", @@ -496,13 +496,13 @@ class CAR(Platforms): car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], - specs=CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable + CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL ) KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( "KIA SORENTO 4TH GEN", HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms flags=HyundaiFlags.RADAR_SCC ) KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -511,24 +511,24 @@ class CAR(Platforms): HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), ], - specs=CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms flags=HyundaiFlags.RADAR_SCC ) KIA_STINGER = HyundaiPlatformConfig( "KIA STINGER GT2 2018", HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable + CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable ) KIA_STINGER_2022 = HyundaiPlatformConfig( "KIA STINGER 2022", HyundaiCarInfo("Kia Stinger 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - specs=KIA_STINGER.specs, + KIA_STINGER.specs, ) KIA_CEED = HyundaiPlatformConfig( "KIA CEED INTRO ED 2019", HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), - specs=CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), + CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), flags=HyundaiFlags.LEGACY ) KIA_EV6 = HyundaiCanFDPlatformConfig( @@ -538,7 +538,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], - specs=CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), + CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), flags=HyundaiFlags.EV ) KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( @@ -547,7 +547,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], - specs=CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23), + CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23), flags=HyundaiFlags.RADAR_SCC ) @@ -558,19 +558,19 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], - specs=CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. + CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. flags=HyundaiFlags.EV ) GENESIS_G70 = HyundaiPlatformConfig( "GENESIS G70 2018", HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - specs=CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), + CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), flags=HyundaiFlags.LEGACY ) GENESIS_G70_2020 = HyundaiPlatformConfig( "GENESIS G70 2020", HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), - specs=CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), + CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), flags=HyundaiFlags.MANDO_RADAR ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( @@ -579,24 +579,24 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), ], - specs=CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6), + CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6), flags=HyundaiFlags.RADAR_SCC ) GENESIS_G80 = HyundaiPlatformConfig( "GENESIS G80 2017", HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), - specs=CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), + CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), flags=HyundaiFlags.LEGACY ) GENESIS_G90 = HyundaiPlatformConfig( "GENESIS G90 2017", HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])), - specs=CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), + CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069), ) GENESIS_GV80 = HyundaiCanFDPlatformConfig( "GENESIS GV80 2023", HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), - specs=CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), + CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), flags=HyundaiFlags.RADAR_SCC ) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 98b3c63ec7..9a78eea856 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -112,16 +112,14 @@ class CarInterfaceBase(ABC): def get_params(cls, candidate: Platform, fingerprint: dict[int, dict[int, int]], car_fw: list[car.CarParams.CarFw], experimental_long: bool, docs: bool): ret = CarInterfaceBase.get_std_params(candidate) - if hasattr(candidate, "config"): - if candidate.config.specs is not None: - ret.mass = candidate.config.specs.mass - ret.wheelbase = candidate.config.specs.wheelbase - ret.steerRatio = candidate.config.specs.steerRatio - ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio - ret.minEnableSpeed = candidate.config.specs.minEnableSpeed - ret.minSteerSpeed = candidate.config.specs.minSteerSpeed - ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor - ret.flags |= int(candidate.config.flags) + ret.mass = candidate.config.specs.mass + ret.wheelbase = candidate.config.specs.wheelbase + ret.steerRatio = candidate.config.specs.steerRatio + ret.centerToFront = ret.wheelbase * candidate.config.specs.centerToFrontRatio + ret.minEnableSpeed = candidate.config.specs.minEnableSpeed + ret.minSteerSpeed = candidate.config.specs.minSteerSpeed + ret.tireStiffnessFactor = candidate.config.specs.tireStiffnessFactor + ret.flags |= int(candidate.config.flags) ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 5597e9f52f..f45e80c119 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -48,32 +48,32 @@ class CAR(Platforms): CX5 = MazdaPlatformConfig( "MAZDA CX-5", MazdaCarInfo("Mazda CX-5 2017-21"), - specs=CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) + CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) ) CX9 = MazdaPlatformConfig( "MAZDA CX-9", MazdaCarInfo("Mazda CX-9 2016-20"), - specs=CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) + CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) ) MAZDA3 = MazdaPlatformConfig( "MAZDA 3", MazdaCarInfo("Mazda 3 2017-18"), - specs=CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) + CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) ) MAZDA6 = MazdaPlatformConfig( "MAZDA 6", MazdaCarInfo("Mazda 6 2017-20"), - specs=CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) + CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) ) CX9_2021 = MazdaPlatformConfig( "MAZDA CX-9 2021", MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"), - specs=CX9.specs + CX9.specs ) CX5_2022 = MazdaPlatformConfig( "MAZDA CX-5 2022", MazdaCarInfo("Mazda CX-5 2022-24"), - specs=CX5.specs, + CX5.specs, ) diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index e75665c98f..74e8bb5fc9 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,12 +1,14 @@ -from enum import StrEnum +from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms -from openpilot.selfdrive.car.docs_definitions import CarInfo -class CAR(StrEnum): - MOCK = 'mock' +class CAR(Platforms): + MOCK = PlatformConfig( + 'mock', + None, + CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13), + {} + ) -CAR_INFO: dict[str, CarInfo | list[CarInfo] | None] = { - CAR.MOCK: None, -} +CAR_INFO = CAR.create_carinfo_map() diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 7af1700e0b..cb7289389b 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -40,13 +40,13 @@ class CAR(Platforms): XTRAIL = NissanPlaformConfig( "NISSAN X-TRAIL 2017", NissanCarInfo("Nissan X-Trail 2017"), - specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + NissanCarSpecs(mass=1610, wheelbase=2.705) ) LEAF = NissanPlaformConfig( "NISSAN LEAF 2018", NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"), - dbc_dict=dbc_dict('nissan_leaf_2018_generated', None), - specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + NissanCarSpecs(mass=1610, wheelbase=2.705), + dbc_dict('nissan_leaf_2018_generated', None), ) # Leaf with ADAS ECU found behind instrument cluster instead of glovebox # Currently the only known difference between them is the inverted seatbelt signal. @@ -54,12 +54,12 @@ class CAR(Platforms): ROGUE = NissanPlaformConfig( "NISSAN ROGUE 2019", NissanCarInfo("Nissan Rogue 2018-20"), - specs=NissanCarSpecs(mass=1610, wheelbase=2.705) + NissanCarSpecs(mass=1610, wheelbase=2.705) ) ALTIMA = NissanPlaformConfig( "NISSAN ALTIMA 2020", NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])), - specs=NissanCarSpecs(mass=1492, wheelbase=2.824) + NissanCarSpecs(mass=1492, wheelbase=2.824) ) diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index c2b2d16d7f..5668678225 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -123,17 +123,17 @@ class CAR(Platforms): ASCENT = SubaruPlatformConfig( "SUBARU ASCENT LIMITED 2019", SubaruCarInfo("Subaru Ascent 2019-21", "All"), - specs=CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), + CarSpecs(mass=2031, wheelbase=2.89, steerRatio=13.5), ) OUTBACK = SubaruGen2PlatformConfig( "SUBARU OUTBACK 6TH GEN", SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), - specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), ) LEGACY = SubaruGen2PlatformConfig( "SUBARU LEGACY 7TH GEN", SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])), - specs=OUTBACK.specs, + OUTBACK.specs, ) IMPREZA = SubaruPlatformConfig( "SUBARU IMPREZA LIMITED 2019", @@ -142,7 +142,7 @@ class CAR(Platforms): SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"), ], - specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=15), ) IMPREZA_2020 = SubaruPlatformConfig( "SUBARU IMPREZA SPORT 2020", @@ -151,74 +151,74 @@ class CAR(Platforms): SubaruCarInfo("Subaru Crosstrek 2020-23"), SubaruCarInfo("Subaru XV 2020-21"), ], - specs=CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17), + CarSpecs(mass=1480, wheelbase=2.67, steerRatio=17), flags=SubaruFlags.STEER_RATE_LIMITED, ) # TODO: is there an XV and Impreza too? CROSSTREK_HYBRID = SubaruPlatformConfig( "SUBARU CROSSTREK HYBRID 2020", SubaruCarInfo("Subaru Crosstrek Hybrid 2020", car_parts=CarParts.common([CarHarness.subaru_b])), - specs=CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), + CarSpecs(mass=1668, wheelbase=2.67, steerRatio=17), flags=SubaruFlags.HYBRID, ) FORESTER = SubaruPlatformConfig( "SUBARU FORESTER 2019", SubaruCarInfo("Subaru Forester 2019-21", "All"), - specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=17), flags=SubaruFlags.STEER_RATE_LIMITED, ) FORESTER_HYBRID = SubaruPlatformConfig( "SUBARU FORESTER HYBRID 2020", SubaruCarInfo("Subaru Forester Hybrid 2020"), - specs=FORESTER.specs, + FORESTER.specs, flags=SubaruFlags.HYBRID, ) # Pre-global FORESTER_PREGLOBAL = SubaruPlatformConfig( "SUBARU FORESTER 2017 - 2018", SubaruCarInfo("Subaru Forester 2017-18"), + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), dbc_dict('subaru_forester_2017_generated', None), - specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=20), flags=SubaruFlags.PREGLOBAL, ) LEGACY_PREGLOBAL = SubaruPlatformConfig( "SUBARU LEGACY 2015 - 2018", SubaruCarInfo("Subaru Legacy 2015-18"), + CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), dbc_dict('subaru_outback_2015_generated', None), - specs=CarSpecs(mass=1568, wheelbase=2.67, steerRatio=12.5), flags=SubaruFlags.PREGLOBAL, ) OUTBACK_PREGLOBAL = SubaruPlatformConfig( "SUBARU OUTBACK 2015 - 2017", SubaruCarInfo("Subaru Outback 2015-17"), + FORESTER_PREGLOBAL.specs, dbc_dict('subaru_outback_2015_generated', None), - specs=FORESTER_PREGLOBAL.specs, flags=SubaruFlags.PREGLOBAL, ) OUTBACK_PREGLOBAL_2018 = SubaruPlatformConfig( "SUBARU OUTBACK 2018 - 2019", SubaruCarInfo("Subaru Outback 2018-19"), + FORESTER_PREGLOBAL.specs, dbc_dict('subaru_outback_2019_generated', None), - specs=FORESTER_PREGLOBAL.specs, flags=SubaruFlags.PREGLOBAL, ) # Angle LKAS FORESTER_2022 = SubaruPlatformConfig( "SUBARU FORESTER 2022", SubaruCarInfo("Subaru Forester 2022-24", "All", car_parts=CarParts.common([CarHarness.subaru_c])), - specs=FORESTER.specs, + FORESTER.specs, flags=SubaruFlags.LKAS_ANGLE, ) OUTBACK_2023 = SubaruGen2PlatformConfig( "SUBARU OUTBACK 7TH GEN", SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), - specs=OUTBACK.specs, + OUTBACK.specs, flags=SubaruFlags.LKAS_ANGLE, ) ASCENT_2023 = SubaruGen2PlatformConfig( "SUBARU ASCENT 2023", SubaruCarInfo("Subaru Ascent 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])), - specs=ASCENT.specs, + ASCENT.specs, flags=SubaruFlags.LKAS_ANGLE, ) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 74d2debe1f..3104506e5b 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -20,12 +20,12 @@ class CAR(Platforms): AP1_MODELS = TeslaPlatformConfig( 'TESLA AP1 MODEL S', CarInfo("Tesla AP1 Model S", "All"), - specs=CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0) + CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0) ) AP2_MODELS = TeslaPlatformConfig( 'TESLA AP2 MODEL S', CarInfo("Tesla AP2 Model S", "All"), - specs=AP1_MODELS.specs + AP1_MODELS.specs ) diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py index cca752705b..6a3bafa390 100755 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -10,13 +10,11 @@ class TestPlatformConfigs(unittest.TestCase): for platform in PLATFORMS.values(): with self.subTest(platform=str(platform)): - if hasattr(platform, "config"): + self.assertTrue(platform.config._frozen) + self.assertIn("pt", platform.config.dbc_dict) + self.assertTrue(len(platform.config.platform_str) > 0) - self.assertTrue(platform.config._frozen) - self.assertIn("pt", platform.config.dbc_dict) - self.assertTrue(len(platform.config.platform_str) > 0) - - self.assertIsNotNone(platform.config.specs) + self.assertIsNotNone(platform.config.specs) if __name__ == "__main__": diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 09d6082f67..9989b9225a 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -88,7 +88,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Alphard 2019-20"), ToyotaCarInfo("Toyota Alphard Hybrid 2021"), ], - specs=CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), + CarSpecs(mass=4305. * CV.LB_TO_KG, wheelbase=3.0, steerRatio=14.2, tireStiffnessFactor=0.444), ) AVALON = PlatformConfig( "TOYOTA AVALON 2016", @@ -96,8 +96,8 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P"), ToyotaCarInfo("Toyota Avalon 2017-18"), ], + CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=3505. * CV.LB_TO_KG, wheelbase=2.82, steerRatio=14.8, tireStiffnessFactor=0.7983), ) AVALON_2019 = PlatformConfig( "TOYOTA AVALON 2019", @@ -105,8 +105,8 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon 2019-21"), ToyotaCarInfo("Toyota Avalon Hybrid 2019-21"), ], + AVALON.specs, dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - specs=AVALON.specs, ) AVALON_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA AVALON 2022", # TSS 2.5 @@ -114,7 +114,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Avalon 2022"), ToyotaCarInfo("Toyota Avalon Hybrid 2022"), ], - specs=AVALON.specs, + AVALON.specs, ) CAMRY = PlatformConfig( "TOYOTA CAMRY 2018", @@ -122,9 +122,9 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"), ], + CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_DSU, - specs=CarSpecs(mass=3400. * CV.LB_TO_KG, wheelbase=2.82448, steerRatio=13.7, tireStiffnessFactor=0.7933), ) CAMRY_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA CAMRY 2021", # TSS 2.5 @@ -132,7 +132,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Camry 2021-24", footnotes=[Footnote.CAMRY]), ToyotaCarInfo("Toyota Camry Hybrid 2021-24"), ], - specs=CAMRY.specs, + CAMRY.specs, ) CHR = PlatformConfig( "TOYOTA C-HR 2018", @@ -140,9 +140,9 @@ class CAR(Platforms): ToyotaCarInfo("Toyota C-HR 2017-20"), ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"), ], + CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_DSU, - specs=CarSpecs(mass=3300. * CV.LB_TO_KG, wheelbase=2.63906, steerRatio=13.6, tireStiffnessFactor=0.7933), ) CHR_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA C-HR 2021", @@ -150,14 +150,14 @@ class CAR(Platforms): ToyotaCarInfo("Toyota C-HR 2021"), ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"), ], + CHR.specs, flags=ToyotaFlags.RADAR_ACC, - specs=CHR.specs, ) COROLLA = PlatformConfig( "TOYOTA COROLLA 2017", ToyotaCarInfo("Toyota Corolla 2017-19"), + CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=2860. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=18.27, tireStiffnessFactor=0.444), ) # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid COROLLA_TSS2 = ToyotaTSS2PlatformConfig( @@ -172,7 +172,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5), ToyotaCarInfo("Lexus UX Hybrid 2019-23"), ], - specs=CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), + CarSpecs(mass=3060. * CV.LB_TO_KG, wheelbase=2.67, steerRatio=13.9, tireStiffnessFactor=0.444), ) HIGHLANDER = PlatformConfig( "TOYOTA HIGHLANDER 2017", @@ -180,9 +180,9 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"), ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"), ], + CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8), ) HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA HIGHLANDER 2020", @@ -190,7 +190,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Highlander 2020-23"), ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"), ], - specs=HIGHLANDER.specs, + HIGHLANDER.specs, ) PRIUS = PlatformConfig( "TOYOTA PRIUS 2017", @@ -199,15 +199,15 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"), ], + CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371), dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371), ) PRIUS_V = PlatformConfig( "TOYOTA PRIUS v 2017", ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), + CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), ) PRIUS_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA PRIUS TSS2 2021", @@ -215,7 +215,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"), ], - specs=CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), + CarSpecs(mass=3115. * CV.LB_TO_KG, wheelbase=2.70002, steerRatio=13.4, tireStiffnessFactor=0.6371), ) RAV4 = PlatformConfig( "TOYOTA RAV4 2017", @@ -223,8 +223,8 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P"), ToyotaCarInfo("Toyota RAV4 2017-18") ], + CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=3650. * CV.LB_TO_KG, wheelbase=2.65, steerRatio=16.88, tireStiffnessFactor=0.5533), ) RAV4H = PlatformConfig( "TOYOTA RAV4 HYBRID 2017", @@ -232,9 +232,9 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"), ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26") ], + RAV4.specs, dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=RAV4.specs, ) RAV4_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA RAV4 2019", @@ -242,7 +242,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"), ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"), ], - specs=CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), + CarSpecs(mass=3585. * CV.LB_TO_KG, wheelbase=2.68986, steerRatio=14.3, tireStiffnessFactor=0.7933), ) RAV4_TSS2_2022 = ToyotaTSS2PlatformConfig( "TOYOTA RAV4 2022", @@ -250,8 +250,8 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 2022"), ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"), ], + RAV4_TSS2.specs, flags=ToyotaFlags.RADAR_ACC, - specs=RAV4_TSS2.specs, ) RAV4_TSS2_2023 = ToyotaTSS2PlatformConfig( "TOYOTA RAV4 2023", @@ -259,28 +259,28 @@ class CAR(Platforms): ToyotaCarInfo("Toyota RAV4 2023-24"), ToyotaCarInfo("Toyota RAV4 Hybrid 2023-24"), ], + RAV4_TSS2.specs, flags=ToyotaFlags.RADAR_ACC | ToyotaFlags.ANGLE_CONTROL, - specs=RAV4_TSS2.specs, ) MIRAI = ToyotaTSS2PlatformConfig( "TOYOTA MIRAI 2021", # TSS 2.5 ToyotaCarInfo("Toyota Mirai 2021"), - specs=CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), + CarSpecs(mass=4300. * CV.LB_TO_KG, wheelbase=2.91, steerRatio=14.8, tireStiffnessFactor=0.8), ) SIENNA = PlatformConfig( "TOYOTA SIENNA 2018", ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED), + CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.NO_STOP_TIMER, - specs=CarSpecs(mass=4590. * CV.LB_TO_KG, wheelbase=3.03, steerRatio=15.5, tireStiffnessFactor=0.444), ) # Lexus LEXUS_CTH = PlatformConfig( "LEXUS CT HYBRID 2018", ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"), + CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=3108. * CV.LB_TO_KG, wheelbase=2.6, steerRatio=18.6, tireStiffnessFactor=0.517), ) LEXUS_ES = PlatformConfig( "LEXUS ES 2018", @@ -288,8 +288,8 @@ class CAR(Platforms): ToyotaCarInfo("Lexus ES 2017-18"), ToyotaCarInfo("Lexus ES Hybrid 2017-18"), ], + CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=3677. * CV.LB_TO_KG, wheelbase=2.8702, steerRatio=16.0, tireStiffnessFactor=0.444), ) LEXUS_ES_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS ES 2019", @@ -297,19 +297,19 @@ class CAR(Platforms): ToyotaCarInfo("Lexus ES 2019-24"), ToyotaCarInfo("Lexus ES Hybrid 2019-24", video_link="https://youtu.be/BZ29osRVJeg?t=12"), ], - specs=LEXUS_ES.specs, + LEXUS_ES.specs, ) LEXUS_IS = PlatformConfig( "LEXUS IS 2018", ToyotaCarInfo("Lexus IS 2017-19"), + CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, - specs=CarSpecs(mass=3736.8 * CV.LB_TO_KG, wheelbase=2.79908, steerRatio=13.3, tireStiffnessFactor=0.444), ) LEXUS_IS_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS IS 2023", ToyotaCarInfo("Lexus IS 2022-23"), - specs=LEXUS_IS.specs, + LEXUS_IS.specs, ) LEXUS_NX = PlatformConfig( "LEXUS NX 2018", @@ -317,8 +317,8 @@ class CAR(Platforms): ToyotaCarInfo("Lexus NX 2018-19"), ToyotaCarInfo("Lexus NX Hybrid 2018-19"), ], + CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=4070. * CV.LB_TO_KG, wheelbase=2.66, steerRatio=14.7, tireStiffnessFactor=0.444), ) LEXUS_NX_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS NX 2020", @@ -326,19 +326,19 @@ class CAR(Platforms): ToyotaCarInfo("Lexus NX 2020-21"), ToyotaCarInfo("Lexus NX Hybrid 2020-21"), ], - specs=LEXUS_NX.specs, + LEXUS_NX.specs, ) LEXUS_LC_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS LC 2024", ToyotaCarInfo("Lexus LC 2024"), - specs=CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), + CarSpecs(mass=4500. * CV.LB_TO_KG, wheelbase=2.87, steerRatio=13.0, tireStiffnessFactor=0.444), ) LEXUS_RC = PlatformConfig( "LEXUS RC 2020", ToyotaCarInfo("Lexus RC 2018-20"), + LEXUS_IS.specs, dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, - specs=LEXUS_IS.specs, ) LEXUS_RX = PlatformConfig( "LEXUS RX 2016", @@ -349,8 +349,8 @@ class CAR(Platforms): ToyotaCarInfo("Lexus RX Hybrid 2016", "Lexus Safety System+"), ToyotaCarInfo("Lexus RX Hybrid 2017-19"), ], + CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - specs=CarSpecs(mass=4481. * CV.LB_TO_KG, wheelbase=2.79, steerRatio=16., tireStiffnessFactor=0.5533), ) LEXUS_RX_TSS2 = ToyotaTSS2PlatformConfig( "LEXUS RX 2020", @@ -358,14 +358,14 @@ class CAR(Platforms): ToyotaCarInfo("Lexus RX 2020-22"), ToyotaCarInfo("Lexus RX Hybrid 2020-22"), ], - specs=LEXUS_RX.specs, + LEXUS_RX.specs, ) LEXUS_GS_F = PlatformConfig( "LEXUS GS F 2016", ToyotaCarInfo("Lexus GS F 2016"), + CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), flags=ToyotaFlags.UNSUPPORTED_DSU, - specs=CarSpecs(mass=4034. * CV.LB_TO_KG, wheelbase=2.84988, steerRatio=13.3, tireStiffnessFactor=0.444), ) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 86788dcf64..4bd5edda2c 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -184,7 +184,7 @@ class CAR(Platforms): VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"), VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"), ], - specs=VolkswagenCarSpecs(mass=1733, wheelbase=2.84), + VolkswagenCarSpecs(mass=1733, wheelbase=2.84), ) ATLAS_MK1 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN ATLAS 1ST GEN", # Chassis CA @@ -195,7 +195,7 @@ class CAR(Platforms): VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"), VWCarInfo("Volkswagen Teramont X 2021-22"), ], - specs=VolkswagenCarSpecs(mass=2011, wheelbase=2.98), + VolkswagenCarSpecs(mass=2011, wheelbase=2.98), ) CRAFTER_MK2 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ @@ -206,7 +206,7 @@ class CAR(Platforms): VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"), VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"), ], - specs=VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), + VolkswagenCarSpecs(mass=2100, wheelbase=3.64, minSteerSpeed=50 * CV.KPH_TO_MS), ) GOLF_MK7 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN GOLF 7TH GEN", # Chassis 5G/AU/BA/BE @@ -220,7 +220,7 @@ class CAR(Platforms): VWCarInfo("Volkswagen Golf R 2015-19"), VWCarInfo("Volkswagen Golf SportsVan 2015-20"), ], - specs=VolkswagenCarSpecs(mass=1397, wheelbase=2.62), + VolkswagenCarSpecs(mass=1397, wheelbase=2.62), ) JETTA_MK7 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN JETTA 7TH GEN", # Chassis BU @@ -228,7 +228,7 @@ class CAR(Platforms): VWCarInfo("Volkswagen Jetta 2018-24"), VWCarInfo("Volkswagen Jetta GLI 2021-24"), ], - specs=VolkswagenCarSpecs(mass=1328, wheelbase=2.71), + VolkswagenCarSpecs(mass=1328, wheelbase=2.71), ) PASSAT_MK8 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN PASSAT 8TH GEN", # Chassis 3G @@ -237,12 +237,12 @@ class CAR(Platforms): VWCarInfo("Volkswagen Passat Alltrack 2015-22"), VWCarInfo("Volkswagen Passat GTE 2015-22"), ], - specs=VolkswagenCarSpecs(mass=1551, wheelbase=2.79), + VolkswagenCarSpecs(mass=1551, wheelbase=2.79), ) PASSAT_NMS = VolkswagenPQPlatformConfig( "VOLKSWAGEN PASSAT NMS", # Chassis A3 VWCarInfo("Volkswagen Passat NMS 2017-22"), - specs=VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), + VolkswagenCarSpecs(mass=1503, wheelbase=2.80, minSteerSpeed=50*CV.KPH_TO_MS, minEnableSpeed=20*CV.KPH_TO_MS), ) POLO_MK6 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN POLO 6TH GEN", # Chassis AW @@ -250,7 +250,7 @@ class CAR(Platforms): VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]), VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]), ], - specs=VolkswagenCarSpecs(mass=1230, wheelbase=2.55), + VolkswagenCarSpecs(mass=1230, wheelbase=2.55), ) SHARAN_MK2 = VolkswagenPQPlatformConfig( "VOLKSWAGEN SHARAN 2ND GEN", # Chassis 7N @@ -258,17 +258,17 @@ class CAR(Platforms): VWCarInfo("Volkswagen Sharan 2018-22"), VWCarInfo("SEAT Alhambra 2018-20"), ], - specs=VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS), + VolkswagenCarSpecs(mass=1639, wheelbase=2.92, minSteerSpeed=50*CV.KPH_TO_MS), ) TAOS_MK1 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN TAOS 1ST GEN", # Chassis B2 VWCarInfo("Volkswagen Taos 2022-23"), - specs=VolkswagenCarSpecs(mass=1498, wheelbase=2.69), + VolkswagenCarSpecs(mass=1498, wheelbase=2.69), ) TCROSS_MK1 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN T-CROSS 1ST GEN", # Chassis C1 - car_info=VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), - specs=VolkswagenCarSpecs(mass=1150, wheelbase=2.60), + VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]), + VolkswagenCarSpecs(mass=1150, wheelbase=2.60), ) TIGUAN_MK2 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN TIGUAN 2ND GEN", # Chassis AD/BW @@ -276,12 +276,12 @@ class CAR(Platforms): VWCarInfo("Volkswagen Tiguan 2018-24"), VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"), ], - specs=VolkswagenCarSpecs(mass=1715, wheelbase=2.74), + VolkswagenCarSpecs(mass=1715, wheelbase=2.74), ) TOURAN_MK2 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN TOURAN 2ND GEN", # Chassis 1T VWCarInfo("Volkswagen Touran 2016-23"), - specs=VolkswagenCarSpecs(mass=1516, wheelbase=2.79), + VolkswagenCarSpecs(mass=1516, wheelbase=2.79), ) TRANSPORTER_T61 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN TRANSPORTER T6.1", # Chassis 7H/7L @@ -289,12 +289,12 @@ class CAR(Platforms): VWCarInfo("Volkswagen Caravelle 2020"), VWCarInfo("Volkswagen California 2021-23"), ], - specs=VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), + VolkswagenCarSpecs(mass=1926, wheelbase=3.00, minSteerSpeed=14.0), ) TROC_MK1 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN T-ROC 1ST GEN", # Chassis A1 VWCarInfo("Volkswagen T-Roc 2018-22", footnotes=[Footnote.VW_MQB_A0]), - specs=VolkswagenCarSpecs(mass=1413, wheelbase=2.63), + VolkswagenCarSpecs(mass=1413, wheelbase=2.63), ) AUDI_A3_MK3 = VolkswagenMQBPlatformConfig( "AUDI A3 3RD GEN", # Chassis 8V/FF @@ -304,47 +304,47 @@ class CAR(Platforms): VWCarInfo("Audi RS3 2018"), VWCarInfo("Audi S3 2015-17"), ], - specs=VolkswagenCarSpecs(mass=1335, wheelbase=2.61), + VolkswagenCarSpecs(mass=1335, wheelbase=2.61), ) AUDI_Q2_MK1 = VolkswagenMQBPlatformConfig( "AUDI Q2 1ST GEN", # Chassis GA VWCarInfo("Audi Q2 2018"), - specs=VolkswagenCarSpecs(mass=1205, wheelbase=2.61), + VolkswagenCarSpecs(mass=1205, wheelbase=2.61), ) AUDI_Q3_MK2 = VolkswagenMQBPlatformConfig( "AUDI Q3 2ND GEN", # Chassis 8U/F3/FS VWCarInfo("Audi Q3 2019-23"), - specs=VolkswagenCarSpecs(mass=1623, wheelbase=2.68), + VolkswagenCarSpecs(mass=1623, wheelbase=2.68), ) SEAT_ATECA_MK1 = VolkswagenMQBPlatformConfig( "SEAT ATECA 1ST GEN", # Chassis 5F VWCarInfo("SEAT Ateca 2018"), - specs=VolkswagenCarSpecs(mass=1900, wheelbase=2.64), + VolkswagenCarSpecs(mass=1900, wheelbase=2.64), ) SEAT_LEON_MK3 = VolkswagenMQBPlatformConfig( "SEAT LEON 3RD GEN", # Chassis 5F VWCarInfo("SEAT Leon 2014-20"), - specs=VolkswagenCarSpecs(mass=1227, wheelbase=2.64), + VolkswagenCarSpecs(mass=1227, wheelbase=2.64), ) SKODA_FABIA_MK4 = VolkswagenMQBPlatformConfig( "SKODA FABIA 4TH GEN", # Chassis PJ VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]), - specs=VolkswagenCarSpecs(mass=1266, wheelbase=2.56), + VolkswagenCarSpecs(mass=1266, wheelbase=2.56), ) SKODA_KAMIQ_MK1 = VolkswagenMQBPlatformConfig( "SKODA KAMIQ 1ST GEN", # Chassis NW VWCarInfo("Škoda Kamiq 2021-23", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]), - specs=VolkswagenCarSpecs(mass=1265, wheelbase=2.66), + VolkswagenCarSpecs(mass=1265, wheelbase=2.66), ) SKODA_KAROQ_MK1 = VolkswagenMQBPlatformConfig( "SKODA KAROQ 1ST GEN", # Chassis NU VWCarInfo("Škoda Karoq 2019-23"), - specs=VolkswagenCarSpecs(mass=1278, wheelbase=2.66), + VolkswagenCarSpecs(mass=1278, wheelbase=2.66), ) SKODA_KODIAQ_MK1 = VolkswagenMQBPlatformConfig( "SKODA KODIAQ 1ST GEN", # Chassis NS VWCarInfo("Škoda Kodiaq 2017-23"), - specs=VolkswagenCarSpecs(mass=1569, wheelbase=2.79), + VolkswagenCarSpecs(mass=1569, wheelbase=2.79), ) SKODA_OCTAVIA_MK3 = VolkswagenMQBPlatformConfig( "SKODA OCTAVIA 3RD GEN", # Chassis NE @@ -352,17 +352,17 @@ class CAR(Platforms): VWCarInfo("Škoda Octavia 2015-19"), VWCarInfo("Škoda Octavia RS 2016"), ], - specs=VolkswagenCarSpecs(mass=1388, wheelbase=2.68), + VolkswagenCarSpecs(mass=1388, wheelbase=2.68), ) SKODA_SCALA_MK1 = VolkswagenMQBPlatformConfig( "SKODA SCALA 1ST GEN", # Chassis NW VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]), - specs=VolkswagenCarSpecs(mass=1192, wheelbase=2.65), + VolkswagenCarSpecs(mass=1192, wheelbase=2.65), ) SKODA_SUPERB_MK3 = VolkswagenMQBPlatformConfig( "SKODA SUPERB 3RD GEN", # Chassis 3V/NP VWCarInfo("Škoda Superb 2015-22"), - specs=VolkswagenCarSpecs(mass=1505, wheelbase=2.84), + VolkswagenCarSpecs(mass=1505, wheelbase=2.84), ) diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py index bdeed9fb7a..d49111752d 100755 --- a/selfdrive/controls/tests/test_state_machine.py +++ b/selfdrive/controls/tests/test_state_machine.py @@ -7,6 +7,7 @@ from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \ AudibleAlert, EVENTS +from openpilot.selfdrive.car.mock.values import CAR as MOCK State = log.ControlsState.OpenpilotState @@ -30,8 +31,8 @@ def make_event(event_types): class TestStateMachine(unittest.TestCase): def setUp(self): - CarInterface, CarController, CarState = interfaces["mock"] - CP = CarInterface.get_non_essential_params("mock") + CarInterface, CarController, CarState = interfaces[MOCK.MOCK] + CP = CarInterface.get_non_essential_params(MOCK.MOCK) CI = CarInterface(CP, CarController, CarState) self.controlsd = Controls(CI=CI) From e0c840cd02e643fc3ace803c8a80af34c6218c8a Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 1 Mar 2024 15:05:28 -0500 Subject: [PATCH 23/94] VW: Cleanup, migrate center-to-front ratio to CarSpecs (#31668) * VW: Cleanup after PlatformConfig refactor * whitespace fix --- selfdrive/car/volkswagen/interface.py | 5 +---- selfdrive/car/volkswagen/values.py | 1 + 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py index 374b657512..43a8bcdddc 100644 --- a/selfdrive/car/volkswagen/interface.py +++ b/selfdrive/car/volkswagen/interface.py @@ -100,11 +100,8 @@ class CarInterface(CarInterfaceBase): ret.vEgoStopping = 0.5 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] - - # Per-chassis tuning values, override tuning defaults here if desired - ret.autoResumeSng = ret.minEnableSpeed == -1 - ret.centerToFront = ret.wheelbase * 0.45 + return ret # returns a car.CarState diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 4bd5edda2c..8f9ea96f2f 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -132,6 +132,7 @@ class VolkswagenPQPlatformConfig(PlatformConfig): @dataclass(frozen=True, kw_only=True) class VolkswagenCarSpecs(CarSpecs): + centerToFrontRatio: float = 0.45 steerRatio: float = 15.6 From b0496d8294b43bc63dc5cf54c19d029ac7857163 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Fri, 1 Mar 2024 16:28:58 -0500 Subject: [PATCH 24/94] can_replay: log fingerprint for hardcoding (#31671) * log * quotes --- tools/replay/can_replay.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index bf6b1e9ae2..d875f25347 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -98,6 +98,10 @@ if __name__ == "__main__": sr = LogReader(args.route_or_segment_name) + CP = sr.first("carParams") + + print(f"carFingerprint (for hardcoding fingerprint): '{CP.carFingerprint}'") + CAN_MSGS = sr.run_across_segments(24, process) print("Finished loading...") From 50a754f4707d8b7cd0b9889b56f4b8fb50ccfec9 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Fri, 1 Mar 2024 16:41:56 -0500 Subject: [PATCH 25/94] VW PQ: Volkswagen Caddy Mk3 (#31670) --- selfdrive/car/tests/routes.py | 1 + selfdrive/car/torque_data/override.toml | 1 + selfdrive/car/volkswagen/fingerprints.py | 11 +++++++++++ selfdrive/car/volkswagen/values.py | 8 ++++++++ 4 files changed, 21 insertions(+) diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index 811416ccef..ff747b5938 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -229,6 +229,7 @@ routes = [ CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1), CarTestRoute("2c68dda277d887ac|2021-05-11--15-22-20", VOLKSWAGEN.ATLAS_MK1), + CarTestRoute("ffcd23abbbd02219|2024-02-28--14-59-38", VOLKSWAGEN.CADDY_MK3), CarTestRoute("cae14e88932eb364|2021-03-26--14-43-28", VOLKSWAGEN.GOLF_MK7), # Stock ACC CarTestRoute("3cfdec54aa035f3f|2022-10-13--14-58-58", VOLKSWAGEN.GOLF_MK7), # openpilot longitudinal CarTestRoute("58a7d3b707987d65|2021-03-25--17-26-37", VOLKSWAGEN.JETTA_MK7), diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 339fc533e5..3cf17f3179 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -43,6 +43,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] "CHEVROLET SILVERADO 1500 2020" = [1.9, 1.9, 0.112] "CHEVROLET TRAILBLAZER 2021" = [1.33, 1.9, 0.16] "CHEVROLET EQUINOX 2019" = [2.5, 2.5, 0.05] +"VOLKSWAGEN CADDY 3RD GEN" = [1.2, 1.2, 0.1] "VOLKSWAGEN PASSAT NMS" = [2.5, 2.5, 0.1] "VOLKSWAGEN SHARAN 2ND GEN" = [2.5, 2.5, 0.1] "HYUNDAI SANTA CRUZ 1ST GEN" = [2.7, 2.7, 0.1] diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index eab2bc0090..d2c85d0fc5 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -99,6 +99,17 @@ FW_VERSIONS = { b'\xf1\x875Q0907572P \xf1\x890682', ], }, + CAR.CADDY_MK3: { + (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8704E906027T \xf1\x892363', + ], + (Ecu.srs, 0x715, None): [ + b'\xf1\x872K5959655E \xf1\x890018\xf1\x82\x05000P037605', + ], + (Ecu.fwdRadar, 0x757, None): [ + b'\xf1\x877N0907572C \xf1\x890211\xf1\x82\x0155', + ], + }, CAR.CRAFTER_MK2: { (Ecu.engine, 0x7e0, None): [ b'\xf1\x8704L906056BP\xf1\x894729', diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 8f9ea96f2f..868d6630ef 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -198,6 +198,14 @@ class CAR(Platforms): ], VolkswagenCarSpecs(mass=2011, wheelbase=2.98), ) + CADDY_MK3 = VolkswagenPQPlatformConfig( + "VOLKSWAGEN CADDY 3RD GEN", # Chassis 2K + [ + VWCarInfo("Volkswagen Caddy 2019"), + VWCarInfo("Volkswagen Caddy Maxi 2019"), + ], + VolkswagenCarSpecs(mass=1613, wheelbase=2.6, minSteerSpeed=21 * CV.KPH_TO_MS), + ) CRAFTER_MK2 = VolkswagenMQBPlatformConfig( "VOLKSWAGEN CRAFTER 2ND GEN", # Chassis SY/SZ [ From 9616b3f71719785f75bf25acdf51f38f19105a3e Mon Sep 17 00:00:00 2001 From: Comma Device Date: Wed, 28 Feb 2024 20:09:24 -0800 Subject: [PATCH 26/94] no amp --- system/hardware/tici/amplifier.py | 1 - system/hardware/tici/hardware.py | 18 +++++++++--------- 2 files changed, 9 insertions(+), 10 deletions(-) diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py index 5725cb8170..af82067467 100755 --- a/system/hardware/tici/amplifier.py +++ b/system/hardware/tici/amplifier.py @@ -97,7 +97,6 @@ CONFIGS = { AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001), AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000), ], - "mici": [], } class Amplifier: diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 5bb1032ba9..8cb02c3d91 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -94,11 +94,7 @@ def get_device_type(): # lru_cache and cache can cause memory leaks when used in classes with open("/sys/firmware/devicetree/base/model") as f: model = f.read().strip('\x00') - model = model.split('comma ')[-1] - # TODO: remove this with AGNOS 7+ - if model.startswith('Qualcomm'): - model = 'tici' - return model + return model.split('comma ')[-1] class Tici(HardwareBase): @cached_property @@ -116,6 +112,8 @@ class Tici(HardwareBase): @cached_property def amplifier(self): + if self.get_device_type() == "mici": + return None return Amplifier() def get_os_version(self): @@ -374,9 +372,10 @@ class Tici(HardwareBase): def set_power_save(self, powersave_enabled): # amplifier, 100mW at idle - self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) - if not powersave_enabled: - self.amplifier.initialize_configuration(self.get_device_type()) + if self.amplifier is not None: + self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled) + if not powersave_enabled: + self.amplifier.initialize_configuration(self.get_device_type()) # *** CPU config *** @@ -414,7 +413,8 @@ class Tici(HardwareBase): return 0 def initialize_hardware(self): - self.amplifier.initialize_configuration(self.get_device_type()) + if self.amplifier is not None: + self.amplifier.initialize_configuration(self.get_device_type()) # Allow thermald to write engagement status to kmsg os.system("sudo chmod a+w /dev/kmsg") From bf20358440830106396780464c21ec9b100ebfbc Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 16:11:48 -0800 Subject: [PATCH 27/94] CI: increase test car interfaces examples (#31641) * increase * huh * Revert "huh" This reverts commit 1a652cbed06a7c814711db6f2bc6b3146d3aec04. * no huge fp dicts * ugh * try 300 * test * at least increase a bit --- selfdrive/car/tests/test_car_interfaces.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py index a454f616cb..02a8d60e3c 100755 --- a/selfdrive/car/tests/test_car_interfaces.py +++ b/selfdrive/car/tests/test_car_interfaces.py @@ -22,7 +22,7 @@ from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()}) -MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '20')) +MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '40')) def get_fuzzy_car_interface_args(draw: DrawType) -> dict: From 81bed0aad857ee3ff41192b8cd8d05db7a7d5ecf Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 16:37:09 -0800 Subject: [PATCH 28/94] Honda Bosch: fix detection for alternate brake signal bug (#31675) statically set alt brake for platforms where we don't need detection yet --- selfdrive/car/honda/interface.py | 5 ++++- selfdrive/car/honda/values.py | 13 ++++++------- 2 files changed, 10 insertions(+), 8 deletions(-) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 71008e5001..9c39c4694f 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -209,8 +209,11 @@ class CarInterface(CarInterfaceBase): raise ValueError(f"unsupported car {candidate}") # These cars use alternate user brake msg (0x1BE) - if 0x1BE in fingerprint[CAN.pt] and candidate in HONDA_BOSCH: + # TODO: Only detect feature for Accord/Accord Hybrid, not all Bosch DBCs have BRAKE_MODULE + if 0x1BE in fingerprint[CAN.pt] and candidate == CAR.ACCORD: ret.flags |= HondaFlags.BOSCH_ALT_BRAKE.value + + if ret.flags & HondaFlags.BOSCH_ALT_BRAKE: ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HONDA_ALT_BRAKE # These cars use alternate SCM messages (SCM_FEEDBACK AND SCM_BUTTON) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 5e2e6b52a0..aa10cfa80a 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -133,7 +133,7 @@ class CAR(Platforms): ) CIVIC_BOSCH_DIESEL = HondaPlatformConfig( "HONDA CIVIC SEDAN 1.6 DIESEL 2019", - None, # don't show in docs + None, # don't show in docs CIVIC_BOSCH.specs, dbc_dict('honda_accord_2018_can_generated', None), flags=HondaFlags.BOSCH @@ -153,7 +153,7 @@ class CAR(Platforms): HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), - flags=HondaFlags.BOSCH, + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE, ) CRV_HYBRID = HondaPlatformConfig( "HONDA CR-V HYBRID 2019", @@ -167,14 +167,14 @@ class CAR(Platforms): HondaCarInfo("Honda HR-V 2023", "All"), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), dbc_dict('honda_civic_ex_2022_can_generated', None), - flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE ) ACURA_RDX_3G = HondaPlatformConfig( "ACURA RDX 2020", HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec dbc_dict('acura_rdx_2020_can_generated', None), - flags=HondaFlags.BOSCH + flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE ) INSIGHT = HondaPlatformConfig( "HONDA INSIGHT 2019", @@ -208,7 +208,7 @@ class CAR(Platforms): ) CRV_EU = HondaPlatformConfig( "HONDA CR-V EU 2016", - None, # Euro version of CRV Touring, don't show in docs + None, # Euro version of CRV Touring, don't show in docs CRV.specs, dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, @@ -243,7 +243,7 @@ class CAR(Platforms): ) ODYSSEY_CHN = HondaPlatformConfig( "HONDA ODYSSEY CHN 2019", - None, # Chinese version of Odyssey, don't show in docs + None, # Chinese version of Odyssey, don't show in docs ODYSSEY.specs, dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES @@ -344,7 +344,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - STEER_THRESHOLD = { # default is 1200, overrides go here CAR.ACURA_RDX: 400, From f1cd16e36794093f5bcc4cdd648dde6b245ed93c Mon Sep 17 00:00:00 2001 From: YassineYousfi Date: Fri, 1 Mar 2024 16:56:33 -0800 Subject: [PATCH 29/94] Recertified Herbalist Model (#31616) * dfa8bce2-a445-45ea-a4b8-e63989b8df08/700 * update model replay ref --- selfdrive/modeld/models/supercombo.onnx | 2 +- selfdrive/test/process_replay/model_replay_ref_commit | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx index ce346a406a..68e39514d9 100644 --- a/selfdrive/modeld/models/supercombo.onnx +++ b/selfdrive/modeld/models/supercombo.onnx @@ -1,3 +1,3 @@ version https://git-lfs.github.com/spec/v1 -oid sha256:c11f99aab832242a604b1bb4c4cf391c9c3d5e90cbc07ab0d4c133473b56a3a4 +oid sha256:cd4b0cc83d5ff275ee77ec430ea686603ad50fd6ad874f599ea6e95b123afc3e size 48193749 diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit index 3b7b04df80..786c2f2731 100644 --- a/selfdrive/test/process_replay/model_replay_ref_commit +++ b/selfdrive/test/process_replay/model_replay_ref_commit @@ -1 +1 @@ -fd6421f7551573c549480f9d29bb0dee4678344d +e8b359a82316e6dfce3b6fb0fb9684431bfa0a1b From 77d896eb898dd04490862b89bf34434e9d9811c3 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 17:16:46 -0800 Subject: [PATCH 30/94] Honda: two base platform configs (#31676) * subclass bosch and nidec * end with comma * one line * remove unused flags * as a test see what happens if we exceeed CP.flags * Revert "as a test see what happens if we exceeed CP.flags" This reverts commit f57a346df5e6f3c6ab19875b843633c0571d16e3. * Update ref_commit --- selfdrive/car/honda/values.py | 94 +++++++++++------------- selfdrive/test/process_replay/ref_commit | 2 +- 2 files changed, 45 insertions(+), 51 deletions(-) diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index aa10cfa80a..a6b7d26567 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -59,8 +59,6 @@ class HondaFlags(IntFlag): NIDEC_ALT_PCM_ACCEL = 32 NIDEC_ALT_SCM_MESSAGES = 64 - AUTORESUME_SNG = 128 - ELECTRIC_PARKING_BRAKE = 256 # Car button codes class CruiseButtons: @@ -100,16 +98,19 @@ class Footnote(Enum): Column.FSR_STEERING) -class HondaPlatformConfig(PlatformConfig): +class HondaBoschPlatformConfig(PlatformConfig): def init(self): - if self.flags & HondaFlags.BOSCH: - self.flags |= HondaFlags.AUTORESUME_SNG - self.flags |= HondaFlags.ELECTRIC_PARKING_BRAKE + self.flags |= HondaFlags.BOSCH + + +class HondaNidecPlatformConfig(PlatformConfig): + def init(self): + self.flags |= HondaFlags.NIDEC class CAR(Platforms): # Bosch Cars - ACCORD = HondaPlatformConfig( + ACCORD = HondaBoschPlatformConfig( "HONDA ACCORD 2018", [ HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS), @@ -118,9 +119,8 @@ class CAR(Platforms): ], CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end dbc_dict('honda_accord_2018_can_generated', None), - flags=HondaFlags.BOSCH, ) - CIVIC_BOSCH = HondaPlatformConfig( + CIVIC_BOSCH = HondaBoschPlatformConfig( "HONDA CIVIC (BOSCH) 2019", [ HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", @@ -129,16 +129,14 @@ class CAR(Platforms): ], CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4), # steerRatio: 10.93 is end-to-end spec dbc_dict('honda_civic_hatchback_ex_2017_can_generated', None), - flags=HondaFlags.BOSCH ) - CIVIC_BOSCH_DIESEL = HondaPlatformConfig( + CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig( "HONDA CIVIC SEDAN 1.6 DIESEL 2019", None, # don't show in docs CIVIC_BOSCH.specs, dbc_dict('honda_accord_2018_can_generated', None), - flags=HondaFlags.BOSCH ) - CIVIC_2022 = HondaPlatformConfig( + CIVIC_2022 = HondaBoschPlatformConfig( "HONDA CIVIC 2022", [ HondaCarInfo("Honda Civic 2022-23", "All", video_link="https://youtu.be/ytiOT5lcp6Q"), @@ -146,116 +144,113 @@ class CAR(Platforms): ], CIVIC_BOSCH.specs, dbc_dict('honda_civic_ex_2022_can_generated', None), - flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS, + flags=HondaFlags.BOSCH_RADARLESS, ) - CRV_5G = HondaPlatformConfig( + CRV_5G = HondaBoschPlatformConfig( "HONDA CR-V 2017", HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), - flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE, + flags=HondaFlags.BOSCH_ALT_BRAKE, ) - CRV_HYBRID = HondaPlatformConfig( + CRV_HYBRID = HondaBoschPlatformConfig( "HONDA CR-V HYBRID 2019", HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end dbc_dict('honda_accord_2018_can_generated', None), - flags=HondaFlags.BOSCH ) - HRV_3G = HondaPlatformConfig( + HRV_3G = HondaBoschPlatformConfig( "HONDA HR-V 2023", HondaCarInfo("Honda HR-V 2023", "All"), CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), dbc_dict('honda_civic_ex_2022_can_generated', None), - flags=HondaFlags.BOSCH | HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE + flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE, ) - ACURA_RDX_3G = HondaPlatformConfig( + ACURA_RDX_3G = HondaBoschPlatformConfig( "ACURA RDX 2020", HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec dbc_dict('acura_rdx_2020_can_generated', None), - flags=HondaFlags.BOSCH | HondaFlags.BOSCH_ALT_BRAKE + flags=HondaFlags.BOSCH_ALT_BRAKE, ) - INSIGHT = HondaPlatformConfig( + INSIGHT = HondaBoschPlatformConfig( "HONDA INSIGHT 2019", HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec dbc_dict('honda_insight_ex_2019_can_generated', None), - flags=HondaFlags.BOSCH ) - HONDA_E = HondaPlatformConfig( + HONDA_E = HondaBoschPlatformConfig( "HONDA E 2020", HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), dbc_dict('acura_rdx_2020_can_generated', None), - flags=HondaFlags.BOSCH ) # Nidec Cars - ACURA_ILX = HondaPlatformConfig( + ACURA_ILX = HondaNidecPlatformConfig( "ACURA ILX 2016", HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - CRV = HondaPlatformConfig( + CRV = HondaNidecPlatformConfig( "HONDA CR-V 2016", HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - CRV_EU = HondaPlatformConfig( + CRV_EU = HondaNidecPlatformConfig( "HONDA CR-V EU 2016", None, # Euro version of CRV Touring, don't show in docs CRV.specs, dbc_dict('honda_crv_executive_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - FIT = HondaPlatformConfig( + FIT = HondaNidecPlatformConfig( "HONDA FIT 2018", HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - FREED = HondaPlatformConfig( + FREED = HondaNidecPlatformConfig( "HONDA FREED 2020", HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - HRV = HondaPlatformConfig( + HRV = HondaNidecPlatformConfig( "HONDA HRV 2019", HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS), HRV_3G.specs, dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - ODYSSEY = HondaPlatformConfig( + ODYSSEY = HondaNidecPlatformConfig( "HONDA ODYSSEY 2018", HondaCarInfo("Honda Odyssey 2018-20"), CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_PCM_ACCEL + flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, ) - ODYSSEY_CHN = HondaPlatformConfig( + ODYSSEY_CHN = HondaNidecPlatformConfig( "HONDA ODYSSEY CHN 2019", None, # Chinese version of Odyssey, don't show in docs ODYSSEY.specs, dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - ACURA_RDX = HondaPlatformConfig( + ACURA_RDX = HondaNidecPlatformConfig( "ACURA RDX 2018", HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - PILOT = HondaPlatformConfig( + PILOT = HondaNidecPlatformConfig( "HONDA PILOT 2017", [ HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), @@ -263,21 +258,20 @@ class CAR(Platforms): ], CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - RIDGELINE = HondaPlatformConfig( + RIDGELINE = HondaNidecPlatformConfig( "HONDA RIDGELINE 2017", HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.NIDEC_ALT_SCM_MESSAGES, + flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) - CIVIC = HondaPlatformConfig( + CIVIC = HondaNidecPlatformConfig( "HONDA CIVIC 2016", HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"), CarSpecs(mass=1326, wheelbase=2.70, centerToFrontRatio=0.4, steerRatio=15.38), # 10.93 is end-to-end spec dbc_dict('honda_civic_touring_2016_can_generated', 'acura_ilx_2016_nidec'), - flags=HondaFlags.NIDEC | HondaFlags.AUTORESUME_SNG | HondaFlags.ELECTRIC_PARKING_BRAKE, ) diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index d437f1fac8..1dfdca0d89 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -7fe098c307b78bf1f6f003452f9ba0a0eaad83d6 +99a50fe1b645bc1dcbf621e9cb72d151c6896429 From b74e8c91bd5c291408c83be4cbc0fa8d542fe810 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 17:17:52 -0800 Subject: [PATCH 31/94] Hyundai: clean up platform configs (#31677) * formatting * should always end with comma * rest are lower * to avoid confusion, don't subclass from CAN config -- nothing is common --- selfdrive/car/hyundai/values.py | 141 ++++++++++++++--------------- selfdrive/car/volkswagen/values.py | 2 +- 2 files changed, 71 insertions(+), 72 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 8802a36f46..bf0aa58999 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -69,7 +69,7 @@ class HyundaiFlags(IntFlag): HYBRID = 2 ** 10 EV = 2 ** 11 - # Static Flags + # Static flags # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points. # If no points are outputted by default it might be possible to turn it on using selfdrive/debug/hyundai_enable_radar_points.py @@ -121,15 +121,14 @@ class HyundaiPlatformConfig(PlatformConfig): self.dbc_dict = dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated') if self.flags & HyundaiFlags.MIN_STEER_32_MPH: - self.specs = self.specs.override(minSteerSpeed = 32 * CV.MPH_TO_MS) + self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS) @dataclass -class HyundaiCanFDPlatformConfig(HyundaiPlatformConfig): +class HyundaiCanFDPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict("hyundai_canfd", None)) def init(self): - super().init() self.flags |= HyundaiFlags.CANFD @@ -147,7 +146,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], CarSpecs(mass=1675, wheelbase=2.885, steerRatio=14.5), - flags=HyundaiFlags.HYBRID + flags=HyundaiFlags.HYBRID, ) ELANTRA = HyundaiPlatformConfig( "HYUNDAI ELANTRA 2017", @@ -158,7 +157,7 @@ class CAR(Platforms): ], # steerRatio: 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535, stiffnessFactor settled on 1.0081302973865127 CarSpecs(mass=1275, wheelbase=2.7, steerRatio=15.4, tireStiffnessFactor=0.385), - flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) ELANTRA_GT_I30 = HyundaiPlatformConfig( "HYUNDAI I30 N LINE 2019 & GT 2018 DCT", @@ -167,20 +166,20 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])), ], ELANTRA.specs, - flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.LEGACY | HyundaiFlags.CLUSTER_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) ELANTRA_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA 2021", HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])), - CarSpecs(mass=2800*CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), - flags=HyundaiFlags.CHECKSUM_CRC8 + CarSpecs(mass=2800 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), + flags=HyundaiFlags.CHECKSUM_CRC8, ) ELANTRA_HEV_2021 = HyundaiPlatformConfig( "HYUNDAI ELANTRA HYBRID 2021", HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", - car_parts=CarParts.common([CarHarness.hyundai_k])), + car_parts=CarParts.common([CarHarness.hyundai_k])), CarSpecs(mass=3017 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=12.9, tireStiffnessFactor=0.65), - flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) HYUNDAI_GENESIS = HyundaiPlatformConfig( "HYUNDAI GENESIS 2015-2016", @@ -190,7 +189,7 @@ class CAR(Platforms): HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])), ], CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5, minSteerSpeed=60 * CV.KPH_TO_MS), - flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.LEGACY, ) IONIQ = HyundaiPlatformConfig( "HYUNDAI IONIQ HYBRID 2017-2019", @@ -202,102 +201,102 @@ class CAR(Platforms): "HYUNDAI IONIQ HYBRID 2020-2022", HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])), # TODO: confirm 2020-21 harness, CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), - flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, ) IONIQ_EV_LTD = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC LIMITED 2019", HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV | HyundaiFlags.LEGACY | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_EV_2020 = HyundaiPlatformConfig( "HYUNDAI IONIQ ELECTRIC 2020", HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) IONIQ_PHEV_2019 = HyundaiPlatformConfig( "HYUNDAI IONIQ PLUG-IN HYBRID 2019", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), - flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.HYBRID | HyundaiFlags.MIN_STEER_32_MPH, ) IONIQ_PHEV = HyundaiPlatformConfig( "HYUNDAI IONIQ PHEV 2020", HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), CarSpecs(mass=1490, wheelbase=2.7, steerRatio=13.73, tireStiffnessFactor=0.385), - flags=HyundaiFlags.HYBRID + flags=HyundaiFlags.HYBRID, ) KONA = HyundaiPlatformConfig( "HYUNDAI KONA 2020", HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])), CarSpecs(mass=1275, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), - flags=HyundaiFlags.CLUSTER_GEARS + flags=HyundaiFlags.CLUSTER_GEARS, ) KONA_EV = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2019", HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])), CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) KONA_EV_2022 = HyundaiPlatformConfig( "HYUNDAI KONA ELECTRIC 2022", HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])), CarSpecs(mass=1743, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), - flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV + flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV, ) KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI KONA ELECTRIC 2ND GEN", HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", - car_parts=CarParts.common([CarHarness.hyundai_r])), + car_parts=CarParts.common([CarHarness.hyundai_r])), CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385), - flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) KONA_HEV = HyundaiPlatformConfig( "HYUNDAI KONA HYBRID 2020", HyundaiCarInfo("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i])), # TODO: check packages, CarSpecs(mass=1425, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385), - flags=HyundaiFlags.HYBRID + flags=HyundaiFlags.HYBRID, ) SANTA_FE = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2019", HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", video_link="https://youtu.be/bjDR0YjM__s", - car_parts=CarParts.common([CarHarness.hyundai_d])), + car_parts=CarParts.common([CarHarness.hyundai_d])), CarSpecs(mass=3982 * CV.LB_TO_KG, wheelbase=2.766, steerRatio=16.55, tireStiffnessFactor=0.82), - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) SANTA_FE_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE 2022", - HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", - car_parts=CarParts.common([CarHarness.hyundai_l])), + HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4", + car_parts=CarParts.common([CarHarness.hyundai_l])), SANTA_FE.specs, - flags=HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.CHECKSUM_CRC8, ) SANTA_FE_HEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), SANTA_FE.specs, - flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) SANTA_FE_PHEV_2022 = HyundaiPlatformConfig( "HYUNDAI SANTA FE PlUG-IN HYBRID 2022", HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])), SANTA_FE.specs, - flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) SONATA = HyundaiPlatformConfig( "HYUNDAI SONATA 2020", HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", - car_parts=CarParts.common([CarHarness.hyundai_a])), + car_parts=CarParts.common([CarHarness.hyundai_a])), CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65), # 15% higher at the center seems reasonable - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) SONATA_LF = HyundaiPlatformConfig( "HYUNDAI SONATA 2019", HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])), CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15), # 15% higher at the center seems reasonable - flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, ) STARIA_4TH_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI STARIA 4TH GEN", @@ -311,7 +310,7 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])), ], CarSpecs(mass=3520 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=16.1, tireStiffnessFactor=0.385), - flags=HyundaiFlags.TCU_GEARS + flags=HyundaiFlags.TCU_GEARS, ) PALISADE = HyundaiPlatformConfig( "HYUNDAI PALISADE 2020", @@ -320,19 +319,19 @@ class CAR(Platforms): HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), ], CarSpecs(mass=1999, wheelbase=2.9, steerRatio=15.6 * 1.15, tireStiffnessFactor=0.63), - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8, ) VELOSTER = HyundaiPlatformConfig( "HYUNDAI VELOSTER 2019", HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])), - CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor = 0.5), - flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS + CarSpecs(mass=2917 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75 * 1.15, tireStiffnessFactor=0.5), + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS, ) SONATA_HYBRID = HyundaiPlatformConfig( "HYUNDAI SONATA HYBRID 2021", HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), SONATA.specs, - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) IONIQ_5 = HyundaiCanFDPlatformConfig( "HYUNDAI IONIQ 5 2022", @@ -342,13 +341,13 @@ class CAR(Platforms): HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])), ], CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65), - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) IONIQ_6 = HyundaiCanFDPlatformConfig( "HYUNDAI IONIQ 6 2023", HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])), IONIQ_5.specs, - flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE + flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE, ) TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig( "HYUNDAI TUCSON 4TH GEN", @@ -368,8 +367,8 @@ class CAR(Platforms): CUSTIN_1ST_GEN = HyundaiPlatformConfig( "HYUNDAI CUSTIN 1ST GEN", HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), - CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner - flags=HyundaiFlags.CHECKSUM_CRC8 + CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17), # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner + flags=HyundaiFlags.CHECKSUM_CRC8, ) # Kia @@ -385,13 +384,13 @@ class CAR(Platforms): "KIA K5 2021", HyundaiCarInfo("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a])), CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5), # 2021 Kia K5 Steering Ratio (all trims) - flags=HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.CHECKSUM_CRC8, ) KIA_K5_HEV_2020 = HyundaiPlatformConfig( "KIA K5 HYBRID 2020", HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])), KIA_K5_2021.specs, - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID, ) KIA_K8_HEV_1ST_GEN = HyundaiCanFDPlatformConfig( "KIA K8 HYBRID 1ST GEN", @@ -408,13 +407,13 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])), ], CarSpecs(mass=3543 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=13.6, tireStiffnessFactor=0.385), # average of all the cars - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.EV, ) KIA_NIRO_EV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO EV 2ND GEN", HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), KIA_NIRO_EV.specs, - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) KIA_NIRO_PHEV = HyundaiPlatformConfig( "KIA NIRO HYBRID 2019", @@ -423,7 +422,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], KIA_NIRO_EV.specs, - flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.MIN_STEER_32_MPH, ) KIA_NIRO_PHEV_2022 = HyundaiPlatformConfig( "KIA NIRO PLUG-IN HYBRID 2022", @@ -432,7 +431,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), ], KIA_NIRO_EV.specs, - flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR + flags=HyundaiFlags.HYBRID | HyundaiFlags.MANDO_RADAR, ) KIA_NIRO_HEV_2021 = HyundaiPlatformConfig( "KIA NIRO HYBRID 2021", @@ -441,7 +440,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Niro Hybrid 2022", car_parts=CarParts.common([CarHarness.hyundai_f])), ], KIA_NIRO_EV.specs, - flags=HyundaiFlags.HYBRID + flags=HyundaiFlags.HYBRID, ) KIA_NIRO_HEV_2ND_GEN = HyundaiCanFDPlatformConfig( "KIA NIRO HYBRID 2ND GEN", @@ -451,34 +450,34 @@ class CAR(Platforms): KIA_OPTIMA_G4 = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN", HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", - car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 + car_parts=CarParts.common([CarHarness.hyundai_b])), # TODO: may support 2016, 2018 CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), - flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH + flags=HyundaiFlags.LEGACY | HyundaiFlags.TCU_GEARS | HyundaiFlags.MIN_STEER_32_MPH, ) KIA_OPTIMA_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), - flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS + flags=HyundaiFlags.UNSUPPORTED_LONGITUDINAL | HyundaiFlags.TCU_GEARS, ) # TODO: may support adjacent years. may have a non-zero minimum steering speed KIA_OPTIMA_H = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 2017 & SPORTS 2019", HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control", car_parts=CarParts.common([CarHarness.hyundai_c])), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), - flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY + flags=HyundaiFlags.HYBRID | HyundaiFlags.LEGACY, ) KIA_OPTIMA_H_G4_FL = HyundaiPlatformConfig( "KIA OPTIMA HYBRID 4TH GEN FACELIFT", HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])), CarSpecs(mass=3558 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5), - flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + flags=HyundaiFlags.HYBRID | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, ) KIA_SELTOS = HyundaiPlatformConfig( "KIA SELTOS 2021", HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])), CarSpecs(mass=1337, wheelbase=2.63, steerRatio=14.56), - flags=HyundaiFlags.CHECKSUM_CRC8 + flags=HyundaiFlags.CHECKSUM_CRC8, ) KIA_SPORTAGE_5TH_GEN = HyundaiCanFDPlatformConfig( "KIA SPORTAGE 5TH GEN", @@ -493,17 +492,17 @@ class CAR(Platforms): "KIA SORENTO GT LINE 2018", [ HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control & LKAS", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", - car_parts=CarParts.common([CarHarness.hyundai_e])), + car_parts=CarParts.common([CarHarness.hyundai_e])), HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])), ], CarSpecs(mass=1985, wheelbase=2.78, steerRatio=14.4 * 1.1), # 10% higher at the center seems reasonable - flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL + flags=HyundaiFlags.CHECKSUM_6B | HyundaiFlags.UNSUPPORTED_LONGITUDINAL, ) KIA_SORENTO_4TH_GEN = HyundaiCanFDPlatformConfig( "KIA SORENTO 4TH GEN", HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])), - CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms - flags=HyundaiFlags.RADAR_SCC + CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + flags=HyundaiFlags.RADAR_SCC, ) KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig( "KIA SORENTO HYBRID 4TH GEN", @@ -511,13 +510,13 @@ class CAR(Platforms): HyundaiCarInfo("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])), ], - CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms - flags=HyundaiFlags.RADAR_SCC + CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5), # average of the platforms + flags=HyundaiFlags.RADAR_SCC, ) KIA_STINGER = HyundaiPlatformConfig( "KIA STINGER GT2 2018", HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", - car_parts=CarParts.common([CarHarness.hyundai_c])), + car_parts=CarParts.common([CarHarness.hyundai_c])), CarSpecs(mass=1825, wheelbase=2.78, steerRatio=14.4 * 1.15) # 15% higher at the center seems reasonable ) KIA_STINGER_2022 = HyundaiPlatformConfig( @@ -529,7 +528,7 @@ class CAR(Platforms): "KIA CEED INTRO ED 2019", HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])), CarSpecs(mass=1450, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5), - flags=HyundaiFlags.LEGACY + flags=HyundaiFlags.LEGACY, ) KIA_EV6 = HyundaiCanFDPlatformConfig( "KIA EV6 2022", @@ -539,7 +538,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])) ], CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65), - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig( "KIA CARNIVAL 4TH GEN", @@ -548,7 +547,7 @@ class CAR(Platforms): HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k])) ], CarSpecs(mass=2087, wheelbase=3.09, steerRatio=14.23), - flags=HyundaiFlags.RADAR_SCC + flags=HyundaiFlags.RADAR_SCC, ) # Genesis @@ -559,19 +558,19 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])), ], CarSpecs(mass=2205, wheelbase=2.9, steerRatio=12.6), # steerRatio: https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1. - flags=HyundaiFlags.EV + flags=HyundaiFlags.EV, ) GENESIS_G70 = HyundaiPlatformConfig( "GENESIS G70 2018", HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CarSpecs(mass=1640, wheelbase=2.84, steerRatio=13.56), - flags=HyundaiFlags.LEGACY + flags=HyundaiFlags.LEGACY, ) GENESIS_G70_2020 = HyundaiPlatformConfig( "GENESIS G70 2020", HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])), CarSpecs(mass=3673 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=12.9), - flags=HyundaiFlags.MANDO_RADAR + flags=HyundaiFlags.MANDO_RADAR, ) GENESIS_GV70_1ST_GEN = HyundaiCanFDPlatformConfig( "GENESIS GV70 1ST GEN", @@ -580,13 +579,13 @@ class CAR(Platforms): HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), ], CarSpecs(mass=1950, wheelbase=2.87, steerRatio=14.6), - flags=HyundaiFlags.RADAR_SCC + flags=HyundaiFlags.RADAR_SCC, ) GENESIS_G80 = HyundaiPlatformConfig( "GENESIS G80 2017", HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])), CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5), - flags=HyundaiFlags.LEGACY + flags=HyundaiFlags.LEGACY, ) GENESIS_G90 = HyundaiPlatformConfig( "GENESIS G90 2017", @@ -597,7 +596,7 @@ class CAR(Platforms): "GENESIS GV80 2023", HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])), CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14), - flags=HyundaiFlags.RADAR_SCC + flags=HyundaiFlags.RADAR_SCC, ) diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 868d6630ef..6ff913b204 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -113,7 +113,7 @@ class VolkswagenFlags(IntFlag): # Detected flags STOCK_HCA_PRESENT = 1 - # Static Flags + # Static flags PQ = 2 From a38a5e8bb4c0eda459ec42dd4e2f42e17e6dfef6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Mar 2024 17:24:22 -0800 Subject: [PATCH 32/94] tici: enable SIM hot swap (#31680) * tici: enable SIM hot swap * only tizi --------- Co-authored-by: Comma Device --- system/hardware/tici/hardware.py | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py index 8cb02c3d91..c1cb9da438 100644 --- a/system/hardware/tici/hardware.py +++ b/system/hardware/tici/hardware.py @@ -478,6 +478,12 @@ class Tici(HardwareBase): 'AT+QNVFW="/nv/item_files/ims/IMS_enable",00', 'AT+QNVFW="/nv/item_files/modem/mmode/ue_usage_setting",01', ] + if self.get_device_type() == "tizi": + cmds += [ + # SIM hot swap + 'AT+QSIMDET=1,0', + 'AT+QSIMSTAT=1', + ] # clear out old blue prime initial APN os.system('mmcli -m any --3gpp-set-initial-eps-bearer-settings="apn="') From b57d37162622adff7b50b6992d882d19015418f8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 21:37:09 -0800 Subject: [PATCH 33/94] mazda --- selfdrive/car/mazda/interface.py | 1 - selfdrive/car/mazda/values.py | 4 ++++ 2 files changed, 4 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index a138318b1a..85be0166ce 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 - ret.tireStiffnessFactor = 0.70 # not optimized yet CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index f45e80c119..ac822f4e9f 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -43,6 +43,10 @@ class MazdaPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) flags: int = MazdaFlags.GEN1 + def init(self): + # TODO: standardize default specs via subclass (MazdaCarSpecs) + self.specs.override(tireStiffnessFactor=0.7) + class CAR(Platforms): CX5 = MazdaPlatformConfig( From eaf333259943c8069eacfe592b7bc0a26a0fecfb Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 21:37:29 -0800 Subject: [PATCH 34/94] Revert "mazda" This reverts commit b57d37162622adff7b50b6992d882d19015418f8. --- selfdrive/car/mazda/interface.py | 1 + selfdrive/car/mazda/values.py | 4 ---- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index 85be0166ce..a138318b1a 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -20,6 +20,7 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 + ret.tireStiffnessFactor = 0.70 # not optimized yet CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index ac822f4e9f..f45e80c119 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -43,10 +43,6 @@ class MazdaPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('mazda_2017', None)) flags: int = MazdaFlags.GEN1 - def init(self): - # TODO: standardize default specs via subclass (MazdaCarSpecs) - self.specs.override(tireStiffnessFactor=0.7) - class CAR(Platforms): CX5 = MazdaPlatformConfig( From cfc5faee2a7621bafa9818d18b35f015272c1f10 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Fri, 1 Mar 2024 21:52:50 -0800 Subject: [PATCH 35/94] fix compress_vipc width --- tools/camerastream/compressed_vipc.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py index f4b8862a84..df9de096f0 100755 --- a/tools/camerastream/compressed_vipc.py +++ b/tools/camerastream/compressed_vipc.py @@ -25,7 +25,7 @@ ENCODE_SOCKETS = { def decoder(addr, vipc_server, vst, nvidia, W, H, debug=False): sock_name = ENCODE_SOCKETS[vst] if debug: - print("start decoder for %s" % sock_name) + print(f"start decoder for {sock_name}, {W}x{H}") if nvidia: os.environ["NV_LOW_LATENCY"] = "3" # both bLowLatency and CUVID_PKT_ENDOFPICTURE @@ -124,7 +124,7 @@ class CompressedVipc: self.procs = [] for vst in vision_streams: ed = sm[ENCODE_SOCKETS[vst]] - p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug, ed.width, ed.height)) + p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, ed.width, ed.height, debug)) p.start() self.procs.append(p) From 3b5f6cd6b2e695c7be321ff3ce863d98589ff1e1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Fri, 1 Mar 2024 23:59:28 -0800 Subject: [PATCH 36/94] [bot] Fingerprints: add missing FW versions from new users (#31610) * Export fingerprints * Update selfdrive/car/toyota/fingerprints.py --- selfdrive/car/chrysler/fingerprints.py | 3 +++ selfdrive/car/honda/fingerprints.py | 1 + selfdrive/car/toyota/fingerprints.py | 1 + 3 files changed, 5 insertions(+) diff --git a/selfdrive/car/chrysler/fingerprints.py b/selfdrive/car/chrysler/fingerprints.py index 1df514e79b..3444b4cc5b 100644 --- a/selfdrive/car/chrysler/fingerprints.py +++ b/selfdrive/car/chrysler/fingerprints.py @@ -38,6 +38,7 @@ FW_VERSIONS = { b'68227902AF', b'68227902AG', b'68227902AH', + b'68227905AG', b'68360252AC', ], (Ecu.srs, 0x744, None): [ @@ -71,6 +72,7 @@ FW_VERSIONS = { b'68340762AD ', b'68340764AD ', b'68352652AE ', + b'68352654AE ', b'68366851AH ', b'68366853AE ', b'68372861AF ', @@ -304,6 +306,7 @@ FW_VERSIONS = { b'68402708AB', b'68402971AD', b'68454144AD', + b'68454145AB', b'68454152AB', b'68454156AB', b'68516650AB', diff --git a/selfdrive/car/honda/fingerprints.py b/selfdrive/car/honda/fingerprints.py index 0ae39751f9..a842baac88 100644 --- a/selfdrive/car/honda/fingerprints.py +++ b/selfdrive/car/honda/fingerprints.py @@ -805,6 +805,7 @@ FW_VERSIONS = { b'37805-5MR-3250\x00\x00', b'37805-5MR-4070\x00\x00', b'37805-5MR-4080\x00\x00', + b'37805-5MR-4170\x00\x00', b'37805-5MR-4180\x00\x00', b'37805-5MR-A240\x00\x00', b'37805-5MR-A250\x00\x00', diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index 6b48408a10..b59e1abea4 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -1266,6 +1266,7 @@ FW_VERSIONS = { }, CAR.LEXUS_ES: { (Ecu.engine, 0x7e0, None): [ + b'\x02333M4100\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00', b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00', ], From b48cbdbc0c95fa5a6fa2523d2f0fcb4aea1615eb Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Harald=20Sch=C3=A4fer?= Date: Sat, 2 Mar 2024 10:01:23 -0800 Subject: [PATCH 37/94] Update RELEASES.md --- RELEASES.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/RELEASES.md b/RELEASES.md index d0fd530db1..046d376c01 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -11,6 +11,9 @@ Version 0.9.6 (2024-02-27) * Directly outputs curvature for lateral control * New driver monitoring model * Trained on larger dataset +* Model path UI + * Shows where driving model wants to be + * Shows what model is seeing more cleary, but more jittery * AGNOS 9 * comma body streaming and controls over WebRTC * Improved fuzzy fingerprinting for many makes and models From 6c11de4b55d99a422830d735f7904d60587f8167 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 2 Mar 2024 12:05:00 -0800 Subject: [PATCH 38/94] fix typo --- RELEASES.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/RELEASES.md b/RELEASES.md index 046d376c01..4ec4c4fad5 100644 --- a/RELEASES.md +++ b/RELEASES.md @@ -1,7 +1,7 @@ Version 0.9.7 (2024-XX-XX) ======================== * New driving model -* Support for many hybrid Ford models +* Support for hybrid variants of supported Ford models Version 0.9.6 (2024-02-27) ======================== @@ -13,7 +13,7 @@ Version 0.9.6 (2024-02-27) * Trained on larger dataset * Model path UI * Shows where driving model wants to be - * Shows what model is seeing more cleary, but more jittery + * Shows what model is seeing more clearly, but more jittery * AGNOS 9 * comma body streaming and controls over WebRTC * Improved fuzzy fingerprinting for many makes and models From 9b2665f0c1cc82ba681a7760599fce917c8eb93f Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sat, 2 Mar 2024 12:23:46 -0800 Subject: [PATCH 39/94] can_replay fixups for bxcan hw --- tools/replay/can_replay.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py index d875f25347..c7da8caf71 100755 --- a/tools/replay/can_replay.py +++ b/tools/replay/can_replay.py @@ -26,12 +26,10 @@ def send_thread(j: PandaJungle, flock): with flock: j.flash() + j.reset() for i in [0, 1, 2, 3, 0xFFFF]: j.can_clear(i) j.set_can_speed_kbps(i, 500) - j.set_can_data_speed_kbps(i, 500) - j.set_ignition(False) - time.sleep(5) j.set_ignition(True) j.set_panda_power(True) j.set_can_loopback(False) From 6fc0a2102f5c98e8dcbfed40b50b7a2fe8609c4d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Sun, 3 Mar 2024 07:21:53 -0800 Subject: [PATCH 40/94] Add Highlander 2024 to car docs --- docs/CARS.md | 1 + selfdrive/car/CARS_template.md | 1 + 2 files changed, 2 insertions(+) diff --git a/docs/CARS.md b/docs/CARS.md index 7ad12189cb..f601da2beb 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -352,6 +352,7 @@ openpilot does not yet support these Toyota models due to a new message authenti * Toyota Venza 2021+ * Toyota Sequoia 2023+ * Toyota Tundra 2022+ +* Toyota Highlander 2024+ * Toyota Corolla Cross 2022+ (only US model) * Lexus NX 2022+ * Toyota bZ4x 2023+ diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md index ab4d231fa7..73ddb02899 100644 --- a/selfdrive/car/CARS_template.md +++ b/selfdrive/car/CARS_template.md @@ -65,6 +65,7 @@ openpilot does not yet support these Toyota models due to a new message authenti * Toyota Venza 2021+ * Toyota Sequoia 2023+ * Toyota Tundra 2022+ +* Toyota Highlander 2024+ * Toyota Corolla Cross 2022+ (only US model) * Lexus NX 2022+ * Toyota bZ4x 2023+ From 15955bfcd0cafb7578103705d4de7c465d8364a2 Mon Sep 17 00:00:00 2001 From: Jason Young <46612682+jyoung8607@users.noreply.github.com> Date: Sun, 3 Mar 2024 20:40:27 -0500 Subject: [PATCH 41/94] VW: Early EPS faults are temporary, round deux (#31525) * VW: Early EPS faults are temporary, round deux * a bit cleaner * Revert "a bit cleaner" This reverts commit e836f92394eba0ace8d9cc87b5aa5080d6332d17. * a little better * clarity * consolidate * cleanup --- selfdrive/car/volkswagen/carstate.py | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py index 48e9ed37d6..9107d41eb3 100644 --- a/selfdrive/car/volkswagen/carstate.py +++ b/selfdrive/car/volkswagen/carstate.py @@ -10,6 +10,8 @@ from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, NetworkLocati class CarState(CarStateBase): def __init__(self, CP): super().__init__(CP) + self.frame = 0 + self.eps_init_complete = False self.CCP = CarControllerParams(CP) self.button_states = {button.event_type: False for button in self.CCP.BUTTONS} self.esp_hold_confirmation = False @@ -47,18 +49,14 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw == 0 - # Update steering angle, rate, yaw rate, and driver input torque. VW send - # the sign/direction in a separate signal so they must be recombined. + # Update EPS position and state info. For signed values, VW sends the sign in a separate signal. ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])] ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])] ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])] ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD - - # Verify EPS readiness to accept steering commands hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"]) - ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") - ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status) # VW Emergency Assist status tracking and mitigation self.eps_stock_values = pt_cp.vl["LH_EPS_03"] @@ -151,6 +149,7 @@ class CarState(CarStateBase): # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) + self.frame += 1 return ret def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type): @@ -168,18 +167,14 @@ class CarState(CarStateBase): ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw) ret.standstill = ret.vEgoRaw == 0 - # Update steering angle, rate, yaw rate, and driver input torque. VW send - # the sign/direction in a separate signal so they must be recombined. + # Update EPS position and state info. For signed values, VW sends the sign in a separate signal. ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])] ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])] ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])] ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE ret.yawRate = pt_cp.vl["Bremse_5"]["Giergeschwindigkeit"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["Vorzeichen_der_Giergeschwindigk"])] * CV.DEG_TO_RAD - - # Verify EPS readiness to accept steering commands hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"]) - ret.steerFaultPermanent = hca_status in ("DISABLED", "FAULT") - ret.steerFaultTemporary = hca_status in ("INITIALIZING", "REJECTED") + ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status) # Update gas, brakes, and gearshift. ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0 @@ -253,8 +248,17 @@ class CarState(CarStateBase): # Additional safety checks performed in CarInterface. ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"]) + self.frame += 1 return ret + def update_hca_state(self, hca_status): + # Treat INITIALIZING and FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist + # DISABLED means the EPS hasn't been configured to support Lane Assist + self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600) + perm_fault = hca_status == "DISABLED" or (self.eps_init_complete and hca_status in ("INITIALIZING", "FAULT")) + temp_fault = hca_status == "REJECTED" or not self.eps_init_complete + return temp_fault, perm_fault + @staticmethod def get_can_parser(CP): if CP.flags & VolkswagenFlags.PQ: From 1728355498d1e5307e7e96324b9232692d62eab6 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Sun, 3 Mar 2024 19:15:21 -0800 Subject: [PATCH 42/94] boardd: return earlier from bad unpack (#31687) --- selfdrive/boardd/panda.cc | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc index e075887a4d..d738231c7b 100644 --- a/selfdrive/boardd/panda.cc +++ b/selfdrive/boardd/panda.cc @@ -284,6 +284,13 @@ bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector Date: Mon, 4 Mar 2024 17:54:08 +0100 Subject: [PATCH 43/94] Add simple MetaDrive scenario (#31686) --- tools/sim/bridge/common.py | 4 + .../sim/bridge/metadrive/metadrive_bridge.py | 38 +-------- .../sim/bridge/metadrive/metadrive_common.py | 37 +++++++++ .../sim/bridge/metadrive/metadrive_process.py | 25 ++++-- tools/sim/bridge/metadrive/metadrive_world.py | 29 ++++--- tools/sim/lib/common.py | 6 ++ tools/sim/scenarios/metadrive/stay_in_lane.py | 82 +++++++++++++++++++ 7 files changed, 169 insertions(+), 52 deletions(-) create mode 100644 tools/sim/bridge/metadrive/metadrive_common.py create mode 100755 tools/sim/scenarios/metadrive/stay_in_lane.py diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 10e2a055a3..2391df6651 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -171,8 +171,12 @@ Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_enga steer_out = steer_op if self.simulator_state.is_engaged else steer_manual self.world.apply_controls(steer_out, throttle_out, brake_out) + self.world.read_state() self.world.read_sensors(self.simulator_state) + if self.world.exit_event.is_set(): + self.shutdown() + if self.rk.frame % self.TICKS_PER_FRAME == 0: self.world.tick() self.world.read_cameras() diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index c94fca2b95..3190cb81b9 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -1,48 +1,12 @@ -import numpy as np - -from metadrive.component.sensors.rgb_camera import RGBCamera from metadrive.component.sensors.base_camera import _cuda_enable from metadrive.component.map.pg_map import MapGenerateMethod -from panda3d.core import Texture, GraphicsOutput from openpilot.tools.sim.bridge.common import SimulatorBridge +from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld from openpilot.tools.sim.lib.camerad import W, H - -class CopyRamRGBCamera(RGBCamera): - """Camera which copies its content into RAM during the render process, for faster image grabbing.""" - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - self.cpu_texture = Texture() - self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam) - - def get_rgb_array_cpu(self): - origin_img = self.cpu_texture - img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8) - img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1)) - img = img[:,:,:3] # RGBA to RGB - # img = np.swapaxes(img, 1, 0) - img = img[::-1] # Flip on vertical axis - return img - - -class RGBCameraWide(CopyRamRGBCamera): - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - lens = self.get_lens() - lens.setFov(120) - lens.setNear(0.1) - -class RGBCameraRoad(CopyRamRGBCamera): - def __init__(self, *args, **kwargs): - super().__init__(*args, **kwargs) - lens = self.get_lens() - lens.setFov(40) - lens.setNear(0.1) - - def straight_block(length): return { "id": "S", diff --git a/tools/sim/bridge/metadrive/metadrive_common.py b/tools/sim/bridge/metadrive/metadrive_common.py new file mode 100644 index 0000000000..42a7eb60dd --- /dev/null +++ b/tools/sim/bridge/metadrive/metadrive_common.py @@ -0,0 +1,37 @@ +import numpy as np + +from metadrive.component.sensors.rgb_camera import RGBCamera +from panda3d.core import Texture, GraphicsOutput + + +class CopyRamRGBCamera(RGBCamera): + """Camera which copies its content into RAM during the render process, for faster image grabbing.""" + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.cpu_texture = Texture() + self.buffer.addRenderTexture(self.cpu_texture, GraphicsOutput.RTMCopyRam) + + def get_rgb_array_cpu(self): + origin_img = self.cpu_texture + img = np.frombuffer(origin_img.getRamImage().getData(), dtype=np.uint8) + img = img.reshape((origin_img.getYSize(), origin_img.getXSize(), -1)) + img = img[:,:,:3] # RGBA to RGB + # img = np.swapaxes(img, 1, 0) + img = img[::-1] # Flip on vertical axis + return img + + +class RGBCameraWide(CopyRamRGBCamera): + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + lens = self.get_lens() + lens.setFov(120) + lens.setNear(0.1) + + +class RGBCameraRoad(CopyRamRGBCamera): + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + lens = self.get_lens() + lens.setFov(40) + lens.setNear(0.1) diff --git a/tools/sim/bridge/metadrive/metadrive_process.py b/tools/sim/bridge/metadrive/metadrive_process.py index aa6ae57976..0e659c7a2d 100644 --- a/tools/sim/bridge/metadrive/metadrive_process.py +++ b/tools/sim/bridge/metadrive/metadrive_process.py @@ -19,7 +19,8 @@ C3_POSITION = Vec3(0.0, 0, 1.22) C3_HPR = Vec3(0, 0,0) -metadrive_state = namedtuple("metadrive_state", ["velocity", "position", "bearing", "steering_angle"]) +metadrive_simulation_state = namedtuple("metadrive_simulation_state", ["running", "done", "done_info"]) +metadrive_vehicle_state = namedtuple("metadrive_vehicle_state", ["velocity", "position", "bearing", "steering_angle"]) def apply_metadrive_patches(): # By default, metadrive won't try to use cuda images unless it's used as a sensor for vehicles, so patch that in @@ -46,7 +47,8 @@ def apply_metadrive_patches(): MetaDriveEnv._is_arrive_destination = arrive_destination_patch def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera_array, image_lock, - controls_recv: Connection, state_send: Connection, exit_event): + controls_recv: Connection, simulation_state_send: Connection, vehicle_state_send: Connection, + exit_event): apply_metadrive_patches() road_image = np.frombuffer(camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) @@ -60,6 +62,13 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera env.reset() env.vehicle.config["max_speed_km_h"] = 1000 + simulation_state = metadrive_simulation_state( + running=True, + done=False, + done_info=None, + ) + simulation_state_send.send(simulation_state) + reset() def get_cam_as_rgb(cam): @@ -78,14 +87,14 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera vc = [0,0] while not exit_event.is_set(): - state = metadrive_state( + vehicle_state = metadrive_vehicle_state( velocity=vec3(x=float(env.vehicle.velocity[0]), y=float(env.vehicle.velocity[1]), z=0), position=env.vehicle.position, bearing=float(math.degrees(env.vehicle.heading_theta)), steering_angle=env.vehicle.steering * env.vehicle.MAX_STEERING ) - state_send.send(state) + vehicle_state_send.send(vehicle_state) if controls_recv.poll(0): while controls_recv.poll(0): @@ -103,7 +112,13 @@ def metadrive_process(dual_camera: bool, config: dict, camera_array, wide_camera obs, _, terminated, _, info = env.step(vc) if terminated: - reset() + done_result = env.done_function("default_agent") + simulation_state = metadrive_simulation_state( + running=False, + done=done_result[0], + done_info=done_result[1], + ) + simulation_state_send.send(simulation_state) if dual_camera: wide_road_image[...] = get_cam_as_rgb("rgb_wide") diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 4cbe64393e..312860593d 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -5,7 +5,8 @@ import numpy as np import time from multiprocessing import Pipe, Array -from openpilot.tools.sim.bridge.metadrive.metadrive_process import metadrive_process, metadrive_state +from openpilot.tools.sim.bridge.metadrive.metadrive_process import (metadrive_process, metadrive_simulation_state, + metadrive_vehicle_state) from openpilot.tools.sim.lib.common import SimulatorState, World from openpilot.tools.sim.lib.camerad import W, H @@ -21,14 +22,16 @@ class MetaDriveWorld(World): self.wide_road_image = np.frombuffer(self.wide_camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) self.controls_send, self.controls_recv = Pipe() - self.state_send, self.state_recv = Pipe() + self.simulation_state_send, self.simulation_state_recv = Pipe() + self.vehicle_state_send, self.vehicle_state_recv = Pipe() self.exit_event = multiprocessing.Event() self.metadrive_process = multiprocessing.Process(name="metadrive process", target= functools.partial(metadrive_process, dual_camera, config, self.camera_array, self.wide_camera_array, self.image_lock, - self.controls_recv, self.state_send, self.exit_event)) + self.controls_recv, self.simulation_state_send, + self.vehicle_state_send, self.exit_event)) self.metadrive_process.start() @@ -36,7 +39,7 @@ class MetaDriveWorld(World): print("---- Spawning Metadrive world, this might take awhile ----") print("----------------------------------------------------------") - self.state_recv.recv() # wait for a state message to ensure metadrive is launched + self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched self.steer_ratio = 15 self.vc = [0.0,0.0] @@ -58,13 +61,19 @@ class MetaDriveWorld(World): self.controls_send.send([*self.vc, self.should_reset]) self.should_reset = False + def read_state(self): + while self.simulation_state_recv.poll(0): + md_state: metadrive_simulation_state = self.simulation_state_recv.recv() + if md_state.done: + self.exit_event.set() + def read_sensors(self, state: SimulatorState): - while self.state_recv.poll(0): - md_state: metadrive_state = self.state_recv.recv() - state.velocity = md_state.velocity - state.bearing = md_state.bearing - state.steering_angle = md_state.steering_angle - state.gps.from_xy(md_state.position) + while self.vehicle_state_recv.poll(0): + md_vehicle: metadrive_vehicle_state = self.vehicle_state_recv.recv() + state.velocity = md_vehicle.velocity + state.bearing = md_vehicle.bearing + state.steering_angle = md_vehicle.steering_angle + state.gps.from_xy(md_vehicle.position) state.valid = True def read_cameras(self): diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index 795d7505c7..76224c61de 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -69,6 +69,8 @@ class World(ABC): self.road_image = np.zeros((H, W, 3), dtype=np.uint8) self.wide_road_image = np.zeros((H, W, 3), dtype=np.uint8) + self.exit_event = multiprocessing.Event() + @abstractmethod def apply_controls(self, steer_sim, throttle_out, brake_out): pass @@ -77,6 +79,10 @@ class World(ABC): def tick(self): pass + @abstractmethod + def read_state(self): + pass + @abstractmethod def read_sensors(self, simulator_state: SimulatorState): pass diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py new file mode 100755 index 0000000000..55fb2cb9bd --- /dev/null +++ b/tools/sim/scenarios/metadrive/stay_in_lane.py @@ -0,0 +1,82 @@ +#!/usr/bin/env python + +from typing import Any +from multiprocessing import Queue + +from metadrive.component.sensors.base_camera import _cuda_enable +from metadrive.component.map.pg_map import MapGenerateMethod + +from openpilot.tools.sim.bridge.common import SimulatorBridge +from openpilot.tools.sim.bridge.metadrive.metadrive_common import RGBCameraRoad, RGBCameraWide +from openpilot.tools.sim.bridge.metadrive.metadrive_world import MetaDriveWorld +from openpilot.tools.sim.lib.camerad import W, H + + +def create_map(): + return dict( + type=MapGenerateMethod.PG_MAP_FILE, + lane_num=2, + lane_width=3.5, + config=[ + { + "id": "S", + "pre_block_socket_index": 0, + "length": 60, + }, + { + "id": "C", + "pre_block_socket_index": 0, + "length": 60, + "radius": 600, + "angle": 45, + "dir": 0, + }, + ] + ) + + +class MetaDriveBridge(SimulatorBridge): + TICKS_PER_FRAME = 5 + + def __init__(self, dual_camera, high_quality): + self.should_render = False + + super().__init__(dual_camera, high_quality) + + def spawn_world(self): + sensors = { + "rgb_road": (RGBCameraRoad, W, H, ) + } + + if self.dual_camera: + sensors["rgb_wide"] = (RGBCameraWide, W, H) + + config = dict( + use_render=self.should_render, + vehicle_config=dict( + enable_reverse=False, + image_source="rgb_road", + ), + sensors=sensors, + image_on_cuda=_cuda_enable, + image_observation=True, + interface_panel=[], + out_of_route_done=True, + on_continuous_line_done=True, + crash_vehicle_done=True, + crash_object_done=True, + traffic_density=0.0, + map_config=create_map(), + decision_repeat=1, + physics_world_step_size=self.TICKS_PER_FRAME/100, + preload_models=False + ) + + return MetaDriveWorld(config, self.dual_camera) + + +if __name__ == "__main__": + queue: Any = Queue() + simulator_bridge = MetaDriveBridge(True, False) + simulator_process = simulator_bridge.run(queue) + simulator_process.join() From 8cd3bc65bfff855e55eda7fc2ecbf6b0da306ea4 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Mon, 4 Mar 2024 09:45:56 -0800 Subject: [PATCH 44/94] [bot] Bump submodules (#31690) bump submodules Co-authored-by: jnewb1 --- opendbc | 2 +- rednose_repo | 2 +- teleoprtc_repo | 2 +- 3 files changed, 3 insertions(+), 3 deletions(-) diff --git a/opendbc b/opendbc index 5f096db742..1745ab5182 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 5f096db742b0c5dcd19976afdb07d5dd098f4b07 +Subproject commit 1745ab51825055cd18748013c4a5e3377319e390 diff --git a/rednose_repo b/rednose_repo index c5762e8bc6..1dc61a60e6 160000 --- a/rednose_repo +++ b/rednose_repo @@ -1 +1 @@ -Subproject commit c5762e8bc6f7338c7a30d2cd1cba8cc64e81ba19 +Subproject commit 1dc61a60e684b4bc8c591a8bce7e24e02aa8f400 diff --git a/teleoprtc_repo b/teleoprtc_repo index 3f9e8176d1..8489ac3c5a 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit 3f9e8176d1be3d217528baee09fc418fa980a0c3 +Subproject commit 8489ac3c5aa0b0e2fec397694f9005e2b5a613e4 From 8ec0d87de06c265dcb0526b9a3bce8a397248dc9 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Mar 2024 12:53:42 -0500 Subject: [PATCH 45/94] card: prepare for separate process (#31660) * Card * update ref * bump cpu * sub to caroutput * update ref --- cereal | 2 +- selfdrive/controls/controlsd.py | 64 ++++++++++--------- selfdrive/locationd/torqued.py | 5 +- selfdrive/test/process_replay/ref_commit | 2 +- selfdrive/test/test_onroad.py | 2 +- .../plotjuggler/layouts/max-torque-debug.xml | 2 +- .../plotjuggler/layouts/torque-controller.xml | 4 +- tools/tuning/measure_steering_accuracy.py | 4 +- 8 files changed, 46 insertions(+), 39 deletions(-) diff --git a/cereal b/cereal index bfbb0cab83..0172e60275 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit bfbb0cab83e3ad49d85ad1a34ee1241bf1ff782f +Subproject commit 0172e60275b11074ff4e6b65378a12f3936fa95a diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index bd3dd08179..fc68db14e5 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -68,11 +68,15 @@ class CarD: def __init__(self, CI=None): self.can_sock = messaging.sub_sock('can', timeout=20) self.sm = messaging.SubMaster(['pandaStates']) - self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) self.can_rcv_timeout_counter = 0 # conseuctive timeout count self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count + self.CC_prev = car.CarState.new_message() + + self.last_actuators = None + self.params = Params() if CI is None: @@ -118,14 +122,12 @@ class CarD: """Initialize CarInterface, once controls are ready""" self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - def state_update(self, CC: car.CarControl): + def state_update(self): """carState update loop, driven by can""" - # TODO: This should not depend on carControl - # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - self.CS = self.CI.update(CC, can_strs) + self.CS = self.CI.update(self.CC_prev, can_strs) self.sm.update(0) @@ -143,18 +145,17 @@ class CarD: if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + self.state_publish() + return self.CS - def state_publish(self, car_events): + def state_publish(self): """carState and carParams publish loop""" - # TODO: carState should be independent of the event loop - # carState cs_send = messaging.new_message('carState') cs_send.valid = self.CS.canValid cs_send.carState = self.CS - cs_send.carState.events = car_events self.pm.send('carState', cs_send) # carParams - logged every 50 seconds (> 1 per segment) @@ -164,25 +165,36 @@ class CarD: cp_send.carParams = self.CP self.pm.send('carParams', cp_send) + # publish new carOutput + co_send = messaging.new_message('carOutput') + co_send.valid = True + if self.last_actuators is not None: + co_send.carOutput.actuatorsOutput = self.last_actuators + self.pm.send('carOutput', co_send) + def controls_update(self, CC: car.CarControl): """control update loop, driven by carControl""" # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - actuators_output, can_sends = self.CI.apply(CC, now_nanos) + self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) - return actuators_output + self.CC_prev = CC class Controls: def __init__(self, CI=None): self.card = CarD(CI) - self.CP = self.card.CP + self.params = Params() + + with car.CarParams.from_bytes(self.params.get("CarParams", block=True)) as msg: + # TODO: this shouldn't need to be a builder + self.CP = msg.as_builder() + self.CI = self.card.CI - config_realtime_process(4, Priority.CTRL_HIGH) # Ensure the current branch is cached, otherwise the first iteration of controlsd lags self.branch = get_short_branch() @@ -195,12 +207,11 @@ class Controls: self.log_sock = messaging.sub_sock('androidLog') - self.params = Params() ignore = self.sensor_packets + ['testJoystick'] if SIMULATION: ignore += ['driverCameraState', 'managerState'] self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration', - 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', + 'carOutput', 'driverMonitoringState', 'longitudinalPlan', 'liveLocationKalman', 'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets + self.sensor_packets, ignore_alive=ignore, ignore_avg_freq=ignore+['radarState', 'testJoystick'], ignore_valid=['testJoystick', ], @@ -212,15 +223,12 @@ class Controls: self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.is_metric = self.params.get_bool("IsMetric") self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled") - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") # detect sound card presence and ensure successful init sounds_available = HARDWARE.get_sound_card_online() car_recognized = self.CP.carName != 'mock' - controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly - # cleanup old params if not self.CP.experimentalLongitudinalAvailable: self.params.remove("ExperimentalLongitudinalEnabled") @@ -267,7 +275,7 @@ class Controls: self.can_log_mono_time = 0 - self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0) + self.startup_event = get_startup_event(car_recognized, not self.CP.passive, len(self.CP.carFw) > 0) if not sounds_available: self.events.add(EventName.soundsUnavailable, static=True) @@ -513,7 +521,7 @@ class Controls: def data_sample(self): """Receive data from sockets and update carState""" - CS = self.card.state_update(self.CC) + CS = self.card.state_update() self.sm.update(0) @@ -771,6 +779,8 @@ class Controls: def publish_logs(self, CS, start_time, CC, lac_log): """Send actuators and hud commands to the car, send controlsstate and MPC logging""" + CO = self.sm['carOutput'] + # Orientation and angle rates can be useful for carcontroller # Only calibrated (car) frame is relevant for the carcontroller orientation_value = list(self.sm['liveLocationKalman'].calibratedOrientationNED.value) @@ -833,13 +843,12 @@ class Controls: hudControl.visualAlert = current_alert.visual_alert if not self.CP.passive and self.initialized: - self.last_actuators = self.card.controls_update(CC) - CC.actuatorsOutput = self.last_actuators + self.card.controls_update(CC) if self.CP.steerControlType == car.CarParams.SteerControlType.angle: - self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \ + self.steer_limited = abs(CC.actuators.steeringAngleDeg - CO.actuatorsOutput.steeringAngleDeg) > \ STEER_ANGLE_SATURATION_THRESHOLD else: - self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2 + self.steer_limited = abs(CC.actuators.steer - CO.actuatorsOutput.steer) > 1e-2 force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \ (self.state == State.softDisabling) @@ -896,15 +905,11 @@ class Controls: self.pm.send('controlsState', dat) - car_events = self.events.to_msg() - - self.card.state_publish(car_events) - # onroadEvents - logged every second or on change if (self.sm.frame % int(1. / DT_CTRL) == 0) or (self.events.names != self.events_prev): ce_send = messaging.new_message('onroadEvents', len(self.events)) ce_send.valid = True - ce_send.onroadEvents = car_events + ce_send.onroadEvents = self.events.to_msg() self.pm.send('onroadEvents', ce_send) self.events_prev = self.events.names.copy() @@ -961,6 +966,7 @@ class Controls: def main(): + config_realtime_process(4, Priority.CTRL_HIGH) controls = Controls() controls.controlsd_thread() diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index 69bab8d1fa..b49784d13f 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -159,8 +159,9 @@ class TorqueEstimator(ParameterEstimator): def handle_log(self, t, which, msg): if which == "carControl": self.raw_points["carControl_t"].append(t + self.lag) - self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) self.raw_points["active"].append(msg.latActive) + elif which == "carOutput": + self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) elif which == "carState": self.raw_points["carState_t"].append(t + self.lag) self.raw_points["vego"].append(msg.vEgo) @@ -218,7 +219,7 @@ def main(demo=False): config_realtime_process([0, 1, 2, 3], 5) pm = messaging.PubMaster(['liveTorqueParameters']) - sm = messaging.SubMaster(['carControl', 'carState', 'liveLocationKalman'], poll='liveLocationKalman') + sm = messaging.SubMaster(['carControl', 'carOutput', 'carState', 'liveLocationKalman'], poll='liveLocationKalman') params = Params() with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP: diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit index 1dfdca0d89..46d684211c 100644 --- a/selfdrive/test/process_replay/ref_commit +++ b/selfdrive/test/process_replay/ref_commit @@ -1 +1 @@ -99a50fe1b645bc1dcbf621e9cb72d151c6896429 +43efe1cf08cba8c86bc1ae8234b3d3d084a40e5d diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py index 8f8c93ecff..4be9b8a430 100755 --- a/selfdrive/test/test_onroad.py +++ b/selfdrive/test/test_onroad.py @@ -29,7 +29,7 @@ from openpilot.tools.lib.logreader import LogReader # Baseline CPU usage by process PROCS = { - "selfdrive.controls.controlsd": 41.0, + "selfdrive.controls.controlsd": 46.0, "./loggerd": 14.0, "./encoderd": 17.0, "./camerad": 14.5, diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml index 20a49c2181..8cfd30599e 100644 --- a/tools/plotjuggler/layouts/max-torque-debug.xml +++ b/tools/plotjuggler/layouts/max-torque-debug.xml @@ -24,7 +24,7 @@ - + diff --git a/tools/plotjuggler/layouts/torque-controller.xml b/tools/plotjuggler/layouts/torque-controller.xml index 443255968a..d6e4684d63 100644 --- a/tools/plotjuggler/layouts/torque-controller.xml +++ b/tools/plotjuggler/layouts/torque-controller.xml @@ -24,8 +24,8 @@ - - + + diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py index f804b328de..6abf1338dc 100755 --- a/tools/tuning/measure_steering_accuracy.py +++ b/tools/tuning/measure_steering_accuracy.py @@ -47,7 +47,7 @@ class SteeringAccuracyTool: v_ego = sm['carState'].vEgo active = sm['controlsState'].active - steer = sm['carControl'].actuatorsOutput.steer + steer = sm['carOutput'].actuatorsOutput.steer standstill = sm['carState'].standstill steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2 overriding = sm['carState'].steeringPressed @@ -150,7 +150,7 @@ if __name__ == "__main__": messaging.context = messaging.Context() carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True) - sm = messaging.SubMaster(['carState', 'carControl', 'controlsState', 'modelV2'], addr=args.addr) + sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr) time.sleep(1) # Make sure all submaster data is available before going further print("waiting for messages...") From 82acb87fae3e2972eb9d3942767c2dcc84c601a7 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Mar 2024 10:11:13 -0800 Subject: [PATCH 46/94] bump cereal --- cereal | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/cereal b/cereal index 0172e60275..c5c2a60f1a 160000 --- a/cereal +++ b/cereal @@ -1 +1 @@ -Subproject commit 0172e60275b11074ff4e6b65378a12f3936fa95a +Subproject commit c5c2a60f1aa796e7de464015349db3c336b79220 From bc2407abeb68bce9c0fa94e3c7df1b1d0799e660 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Mar 2024 13:45:32 -0500 Subject: [PATCH 47/94] move card to selfdrive/car/card (#31693) * more obivous dif * release --- release/files_common | 1 + selfdrive/car/card.py | 142 ++++++++++++++++++++++++++++++++ selfdrive/controls/controlsd.py | 128 +--------------------------- 3 files changed, 145 insertions(+), 126 deletions(-) create mode 100755 selfdrive/car/card.py diff --git a/release/files_common b/release/files_common index 1fb05b43a7..5ca624a5fa 100644 --- a/release/files_common +++ b/release/files_common @@ -86,6 +86,7 @@ selfdrive/boardd/pandad.py selfdrive/boardd/tests/test_boardd_loopback.py selfdrive/car/__init__.py +selfdrive/car/card.py selfdrive/car/docs_definitions.py selfdrive/car/car_helpers.py selfdrive/car/fingerprints.py diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py new file mode 100755 index 0000000000..2853ba9771 --- /dev/null +++ b/selfdrive/car/card.py @@ -0,0 +1,142 @@ +#!/usr/bin/env python3 +import os +import time + +import cereal.messaging as messaging + +from cereal import car + +from panda import ALTERNATIVE_EXPERIENCE + +from openpilot.common.params import Params +from openpilot.common.realtime import DT_CTRL + +from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp +from openpilot.selfdrive.car.car_helpers import get_car, get_one_can +from openpilot.selfdrive.car.interfaces import CarInterfaceBase + + +REPLAY = "REPLAY" in os.environ + + +class CarD: + CI: CarInterfaceBase + CS: car.CarState + + def __init__(self, CI=None): + self.can_sock = messaging.sub_sock('can', timeout=20) + self.sm = messaging.SubMaster(['pandaStates']) + self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) + + self.can_rcv_timeout_counter = 0 # conseuctive timeout count + self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count + + self.CC_prev = car.CarState.new_message() + + self.last_actuators = None + + self.params = Params() + + if CI is None: + # wait for one pandaState and one CAN packet + print("Waiting for CAN messages...") + get_one_can(self.can_sock) + + num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) + experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") + self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) + else: + self.CI, self.CP = CI, CI.CP + + # set alternative experiences from parameters + disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") + self.CP.alternativeExperience = 0 + if not disengage_on_accelerator: + self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS + + car_recognized = self.CP.carName != 'mock' + openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") + + controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly + + self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly + if self.CP.passive: + safety_config = car.CarParams.SafetyConfig.new_message() + safety_config.safetyModel = car.CarParams.SafetyModel.noOutput + self.CP.safetyConfigs = [safety_config] + + # Write previous route's CarParams + prev_cp = self.params.get("CarParamsPersistent") + if prev_cp is not None: + self.params.put("CarParamsPrevRoute", prev_cp) + + # Write CarParams for radard + cp_bytes = self.CP.to_bytes() + self.params.put("CarParams", cp_bytes) + self.params.put_nonblocking("CarParamsCache", cp_bytes) + self.params.put_nonblocking("CarParamsPersistent", cp_bytes) + + def initialize(self): + """Initialize CarInterface, once controls are ready""" + self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) + + def state_update(self): + """carState update loop, driven by can""" + + # Update carState from CAN + can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) + self.CS = self.CI.update(self.CC_prev, can_strs) + + self.sm.update(0) + + can_rcv_valid = len(can_strs) > 0 + + # Check for CAN timeout + if not can_rcv_valid: + self.can_rcv_timeout_counter += 1 + self.can_rcv_cum_timeout_counter += 1 + else: + self.can_rcv_timeout_counter = 0 + + self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 + + if can_rcv_valid and REPLAY: + self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime + + self.state_publish() + + return self.CS + + def state_publish(self): + """carState and carParams publish loop""" + + # carState + cs_send = messaging.new_message('carState') + cs_send.valid = self.CS.canValid + cs_send.carState = self.CS + self.pm.send('carState', cs_send) + + # carParams - logged every 50 seconds (> 1 per segment) + if (self.sm.frame % int(50. / DT_CTRL) == 0): + cp_send = messaging.new_message('carParams') + cp_send.valid = True + cp_send.carParams = self.CP + self.pm.send('carParams', cp_send) + + # publish new carOutput + co_send = messaging.new_message('carOutput') + co_send.valid = True + if self.last_actuators is not None: + co_send.carOutput.actuatorsOutput = self.last_actuators + self.pm.send('carOutput', co_send) + + def controls_update(self, CC: car.CarControl): + """control update loop, driven by carControl""" + + # send car controls over can + now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) + self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) + self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) + + self.CC_prev = CC + diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py index fc68db14e5..e4f2542ea5 100755 --- a/selfdrive/controls/controlsd.py +++ b/selfdrive/controls/controlsd.py @@ -10,7 +10,6 @@ import cereal.messaging as messaging from cereal import car, log from cereal.visionipc import VisionIpcClient, VisionStreamType -from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.conversions import Conversions as CV from openpilot.common.numpy_fast import clip @@ -18,9 +17,8 @@ from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL from openpilot.common.swaglog import cloudlog -from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp -from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can -from openpilot.selfdrive.car.interfaces import CarInterfaceBase +from openpilot.selfdrive.car.car_helpers import get_startup_event +from openpilot.selfdrive.car.card import CarD from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, clip_curvature from openpilot.selfdrive.controls.lib.events import Events, ET @@ -61,128 +59,6 @@ ACTIVE_STATES = (State.enabled, State.softDisabling, State.overriding) ENABLED_STATES = (State.preEnabled, *ACTIVE_STATES) -class CarD: - CI: CarInterfaceBase - CS: car.CarState - - def __init__(self, CI=None): - self.can_sock = messaging.sub_sock('can', timeout=20) - self.sm = messaging.SubMaster(['pandaStates']) - self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) - - self.can_rcv_timeout_counter = 0 # conseuctive timeout count - self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count - - self.CC_prev = car.CarState.new_message() - - self.last_actuators = None - - self.params = Params() - - if CI is None: - # wait for one pandaState and one CAN packet - print("Waiting for CAN messages...") - get_one_can(self.can_sock) - - num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) - experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") - self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas) - else: - self.CI, self.CP = CI, CI.CP - - # set alternative experiences from parameters - disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") - self.CP.alternativeExperience = 0 - if not disengage_on_accelerator: - self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS - - car_recognized = self.CP.carName != 'mock' - openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") - - controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly - - self.CP.passive = not car_recognized or not controller_available or self.CP.dashcamOnly - if self.CP.passive: - safety_config = car.CarParams.SafetyConfig.new_message() - safety_config.safetyModel = car.CarParams.SafetyModel.noOutput - self.CP.safetyConfigs = [safety_config] - - # Write previous route's CarParams - prev_cp = self.params.get("CarParamsPersistent") - if prev_cp is not None: - self.params.put("CarParamsPrevRoute", prev_cp) - - # Write CarParams for radard - cp_bytes = self.CP.to_bytes() - self.params.put("CarParams", cp_bytes) - self.params.put_nonblocking("CarParamsCache", cp_bytes) - self.params.put_nonblocking("CarParamsPersistent", cp_bytes) - - def initialize(self): - """Initialize CarInterface, once controls are ready""" - self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan']) - - def state_update(self): - """carState update loop, driven by can""" - - # Update carState from CAN - can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) - self.CS = self.CI.update(self.CC_prev, can_strs) - - self.sm.update(0) - - can_rcv_valid = len(can_strs) > 0 - - # Check for CAN timeout - if not can_rcv_valid: - self.can_rcv_timeout_counter += 1 - self.can_rcv_cum_timeout_counter += 1 - else: - self.can_rcv_timeout_counter = 0 - - self.can_rcv_timeout = self.can_rcv_timeout_counter >= 5 - - if can_rcv_valid and REPLAY: - self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime - - self.state_publish() - - return self.CS - - def state_publish(self): - """carState and carParams publish loop""" - - # carState - cs_send = messaging.new_message('carState') - cs_send.valid = self.CS.canValid - cs_send.carState = self.CS - self.pm.send('carState', cs_send) - - # carParams - logged every 50 seconds (> 1 per segment) - if (self.sm.frame % int(50. / DT_CTRL) == 0): - cp_send = messaging.new_message('carParams') - cp_send.valid = True - cp_send.carParams = self.CP - self.pm.send('carParams', cp_send) - - # publish new carOutput - co_send = messaging.new_message('carOutput') - co_send.valid = True - if self.last_actuators is not None: - co_send.carOutput.actuatorsOutput = self.last_actuators - self.pm.send('carOutput', co_send) - - def controls_update(self, CC: car.CarControl): - """control update loop, driven by carControl""" - - # send car controls over can - now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) - self.last_actuators, can_sends = self.CI.apply(CC, now_nanos) - self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=self.CS.canValid)) - - self.CC_prev = CC - - class Controls: def __init__(self, CI=None): self.card = CarD(CI) From be2b48183f81c09f7bc5d1e77d880ce40abacb20 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Mar 2024 17:33:52 -0500 Subject: [PATCH 48/94] updated -> move to selfdrive/updated/updated (#31696) * move updated * for release --- release/files_common | 3 ++- scripts/stop_updater.sh | 2 +- selfdrive/manager/process_config.py | 2 +- selfdrive/ui/qt/offroad/software_settings.cc | 4 ++-- selfdrive/{ => updated}/updated.py | 0 5 files changed, 6 insertions(+), 5 deletions(-) rename selfdrive/{ => updated}/updated.py (100%) diff --git a/release/files_common b/release/files_common index 5ca624a5fa..c0be9d3cae 100644 --- a/release/files_common +++ b/release/files_common @@ -53,9 +53,10 @@ tools/replay/*.h selfdrive/__init__.py selfdrive/sentry.py selfdrive/tombstoned.py -selfdrive/updated.py selfdrive/statsd.py +selfdrive/updated/* + system/logmessaged.py system/micd.py system/version.py diff --git a/scripts/stop_updater.sh b/scripts/stop_updater.sh index 4243d30e9f..7f82191823 100755 --- a/scripts/stop_updater.sh +++ b/scripts/stop_updater.sh @@ -1,7 +1,7 @@ #!/usr/bin/env sh # Stop updater -pkill -2 -f selfdrive.updated +pkill -2 -f selfdrive.updated.updated # Remove pending update rm -f /data/safe_staging/finalized/.overlay_consistent diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py index cb6dd8883f..4f292917fd 100644 --- a/selfdrive/manager/process_config.py +++ b/selfdrive/manager/process_config.py @@ -78,7 +78,7 @@ procs = [ PythonProcess("radard", "selfdrive.controls.radard", only_onroad), PythonProcess("thermald", "selfdrive.thermald.thermald", always_run), PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC), - PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC), + PythonProcess("updated", "selfdrive.updated.updated", only_offroad, enabled=not PC), PythonProcess("uploader", "system.loggerd.uploader", always_run), PythonProcess("statsd", "selfdrive.statsd", always_run), diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc index 15c022db9a..d12db3f878 100644 --- a/selfdrive/ui/qt/offroad/software_settings.cc +++ b/selfdrive/ui/qt/offroad/software_settings.cc @@ -17,7 +17,7 @@ void SoftwarePanel::checkForUpdates() { - std::system("pkill -SIGUSR1 -f selfdrive.updated"); + std::system("pkill -SIGUSR1 -f selfdrive.updated.updated"); } SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { @@ -36,7 +36,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) { if (downloadBtn->text() == tr("CHECK")) { checkForUpdates(); } else { - std::system("pkill -SIGHUP -f selfdrive.updated"); + std::system("pkill -SIGHUP -f selfdrive.updated.updated"); } }); addItem(downloadBtn); diff --git a/selfdrive/updated.py b/selfdrive/updated/updated.py similarity index 100% rename from selfdrive/updated.py rename to selfdrive/updated/updated.py From 09e73f8fb6b681512b1adbe46b2d6e64f0f5f54f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 5 Mar 2024 00:04:28 +0100 Subject: [PATCH 49/94] webrtcd: allow empty bridge_services_out (#31694) * Test case * Add messaging only if services non empty * Fix webrtcd * Use parametrized_class * Bump to master teleoprtc --- system/webrtc/tests/test_webrtcd.py | 14 +++++++++++--- system/webrtc/webrtcd.py | 25 +++++++++++++++++-------- teleoprtc_repo | 2 +- 3 files changed, 29 insertions(+), 12 deletions(-) diff --git a/system/webrtc/tests/test_webrtcd.py b/system/webrtc/tests/test_webrtcd.py index c31b63d02b..e5742dba07 100755 --- a/system/webrtc/tests/test_webrtcd.py +++ b/system/webrtc/tests/test_webrtcd.py @@ -11,8 +11,15 @@ from openpilot.system.webrtc.webrtcd import get_stream import aiortc from teleoprtc import WebRTCOfferBuilder +from parameterized import parameterized_class +@parameterized_class(("in_services", "out_services"), [ + (["testJoystick"], ["carState"]), + ([], ["carState"]), + (["testJoystick"], []), + ([], []), +]) class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): async def assertCompletesWithTimeout(self, awaitable, timeout=1): try: @@ -24,7 +31,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): async def test_webrtcd(self): mock_request = MagicMock() async def connect(offer): - body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': [], 'bridge_services_out': ['carState']} + body = {'sdp': offer.sdp, 'cameras': offer.video, 'bridge_services_in': self.in_services, 'bridge_services_out': self.out_services} mock_request.json.side_effect = AsyncMock(return_value=body) response = await get_stream(mock_request) response_json = json.loads(response.text) @@ -33,7 +40,8 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): builder = WebRTCOfferBuilder(connect) builder.offer_to_receive_video_stream("road") builder.offer_to_receive_audio_stream() - builder.add_messaging() + if len(self.in_services) > 0 or len(self.out_services) > 0: + builder.add_messaging() stream = builder.stream() @@ -42,7 +50,7 @@ class TestWebrtcdProc(unittest.IsolatedAsyncioTestCase): self.assertTrue(stream.has_incoming_video_track("road")) self.assertTrue(stream.has_incoming_audio_track()) - self.assertTrue(stream.has_messaging_channel()) + self.assertEqual(stream.has_messaging_channel(), len(self.in_services) > 0 or len(self.out_services) > 0) video_track, audio_track = stream.get_incoming_video_track("road"), stream.get_incoming_audio_track() await self.assertCompletesWithTimeout(video_track.recv()) diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 6c1370eae9..95c8ae337d 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -128,9 +128,14 @@ class StreamSession: self.stream = builder.stream() self.identifier = str(uuid.uuid4()) - self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) - self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) - self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) + self.incoming_bridge: CerealIncomingMessageProxy | None = None + self.outgoing_bridge: CerealOutgoingMessageProxy | None = None + self.outgoing_bridge_runner: CerealProxyRunner | None = None + if len(incoming_services) > 0: + self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) + if len(outgoing_services) > 0: + self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) + self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) self.audio_output: AudioOutputSpeaker | MediaBlackhole | None = None self.run_task: asyncio.Task | None = None @@ -152,6 +157,7 @@ class StreamSession: return await self.stream.start() async def message_handler(self, message: bytes): + assert self.incoming_bridge is not None try: self.incoming_bridge.send(message) except Exception as ex: @@ -161,10 +167,12 @@ class StreamSession: try: await self.stream.wait_for_connection() if self.stream.has_messaging_channel(): - self.stream.set_message_handler(self.message_handler) - channel = self.stream.get_messaging_channel() - self.outgoing_bridge_runner.proxy.add_channel(channel) - self.outgoing_bridge_runner.start() + if self.incoming_bridge is not None: + self.stream.set_message_handler(self.message_handler) + if self.outgoing_bridge_runner is not None: + channel = self.stream.get_messaging_channel() + self.outgoing_bridge_runner.proxy.add_channel(channel) + self.outgoing_bridge_runner.start() if self.stream.has_incoming_audio_track(): track = self.stream.get_incoming_audio_track(buffered=False) self.audio_output = self.audio_output_cls() @@ -181,7 +189,8 @@ class StreamSession: async def post_run_cleanup(self): await self.stream.stop() - self.outgoing_bridge_runner.stop() + if self.outgoing_bridge is not None: + self.outgoing_bridge_runner.stop() if self.audio_output: self.audio_output.stop() diff --git a/teleoprtc_repo b/teleoprtc_repo index 8489ac3c5a..ab2f09706e 160000 --- a/teleoprtc_repo +++ b/teleoprtc_repo @@ -1 +1 @@ -Subproject commit 8489ac3c5aa0b0e2fec397694f9005e2b5a613e4 +Subproject commit ab2f09706e8f64390e196f079ac69e67131b07f5 From deb79a9c443fa1fc1499e40a97757c7d8b6af735 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Mon, 4 Mar 2024 19:18:16 -0500 Subject: [PATCH 50/94] card: fix startup condition (#31698) fix default cc --- selfdrive/car/card.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/selfdrive/car/card.py b/selfdrive/car/card.py index 2853ba9771..9231794a6c 100755 --- a/selfdrive/car/card.py +++ b/selfdrive/car/card.py @@ -31,7 +31,7 @@ class CarD: self.can_rcv_timeout_counter = 0 # conseuctive timeout count self.can_rcv_cum_timeout_counter = 0 # cumulative timeout count - self.CC_prev = car.CarState.new_message() + self.CC_prev = car.CarControl.new_message() self.last_actuators = None From 32fb58656a46dc428ec43f04f396aee994efd14e Mon Sep 17 00:00:00 2001 From: Michel Le Bihan Date: Tue, 5 Mar 2024 19:36:01 +0100 Subject: [PATCH 51/94] Only print keyboard help on poll start and unknown command (#31710) --- tools/sim/bridge/common.py | 4 ---- tools/sim/lib/keyboard_ctrl.py | 7 +++++++ 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 2391df6651..78ddfa5aa6 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -13,7 +13,6 @@ from openpilot.selfdrive.car.honda.values import CruiseButtons from openpilot.tools.sim.lib.common import SimulatorState, World from openpilot.tools.sim.lib.simulated_car import SimulatedCar from openpilot.tools.sim.lib.simulated_sensors import SimulatedSensors -from openpilot.tools.sim.lib.keyboard_ctrl import KEYBOARD_HELP def rk_loop(function, hz, exit_event: threading.Event): @@ -74,9 +73,6 @@ class SimulatorBridge(ABC): def print_status(self): print( f""" -Keyboard Commands: -{KEYBOARD_HELP} - State: Ignition: {self.simulator_state.ignition} Engaged: {self.simulator_state.is_engaged} """) diff --git a/tools/sim/lib/keyboard_ctrl.py b/tools/sim/lib/keyboard_ctrl.py index 339f4ea6bb..ea255d9ce4 100644 --- a/tools/sim/lib/keyboard_ctrl.py +++ b/tools/sim/lib/keyboard_ctrl.py @@ -49,7 +49,12 @@ def getch() -> str: termios.tcsetattr(STDIN_FD, termios.TCSADRAIN, old_settings) return ch +def print_keyboard_help(): + print(f"Keyboard Commands:\n{KEYBOARD_HELP}") + def keyboard_poll_thread(q: 'Queue[str]'): + print_keyboard_help() + while True: c = getch() if c == '1': @@ -77,6 +82,8 @@ def keyboard_poll_thread(q: 'Queue[str]'): elif c == 'q': q.put("quit") break + else: + print_keyboard_help() def test(q: 'Queue[str]') -> NoReturn: while True: From 9d4d5f6077a4bb0c40eb91ec41154f7903761253 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Tue, 5 Mar 2024 14:02:02 -0500 Subject: [PATCH 52/94] torqued: use correct time from carOutput (#31712) fix timings --- selfdrive/locationd/torqued.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py index b49784d13f..06f9044738 100755 --- a/selfdrive/locationd/torqued.py +++ b/selfdrive/locationd/torqued.py @@ -161,6 +161,7 @@ class TorqueEstimator(ParameterEstimator): self.raw_points["carControl_t"].append(t + self.lag) self.raw_points["active"].append(msg.latActive) elif which == "carOutput": + self.raw_points["carOutput_t"].append(t + self.lag) self.raw_points["steer_torque"].append(-msg.actuatorsOutput.steer) elif which == "carState": self.raw_points["carState_t"].append(t + self.lag) @@ -173,7 +174,7 @@ class TorqueEstimator(ParameterEstimator): active = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carControl_t'], self.raw_points['active']).astype(bool) steer_override = np.interp(np.arange(t - MIN_ENGAGE_BUFFER, t, DT_MDL), self.raw_points['carState_t'], self.raw_points['steer_override']).astype(bool) vego = np.interp(t, self.raw_points['carState_t'], self.raw_points['vego']) - steer = np.interp(t, self.raw_points['carControl_t'], self.raw_points['steer_torque']) + steer = np.interp(t, self.raw_points['carOutput_t'], self.raw_points['steer_torque']) lateral_acc = (vego * yaw_rate) - (np.sin(roll) * ACCELERATION_DUE_TO_GRAVITY) if all(active) and (not any(steer_override)) and (vego > MIN_VEL) and (abs(steer) > STEER_MIN_THRESHOLD) and (abs(lateral_acc) <= LAT_ACC_THRESHOLD): self.filtered_points.add_point(float(steer), float(lateral_acc)) From 032c0878b8f15ffecd372bc12d8be66de2608358 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Tue, 5 Mar 2024 21:14:50 +0100 Subject: [PATCH 53/94] webrtcd: ability to have multiple streams publishing same message (#31700) Use single PubMaster with dynamic services --- system/webrtc/webrtcd.py | 18 +++++++++++++++++- 1 file changed, 17 insertions(+), 1 deletion(-) diff --git a/system/webrtc/webrtcd.py b/system/webrtc/webrtcd.py index 95c8ae337d..51c86aacc6 100755 --- a/system/webrtc/webrtcd.py +++ b/system/webrtc/webrtcd.py @@ -102,7 +102,21 @@ class CerealProxyRunner: await asyncio.sleep(0.01) +class DynamicPubMaster(messaging.PubMaster): + def __init__(self, *args, **kwargs): + super().__init__(*args, **kwargs) + self.lock = asyncio.Lock() + + async def add_services_if_needed(self, services): + async with self.lock: + for service in services: + if service not in self.sock: + self.sock[service] = messaging.pub_sock(service) + + class StreamSession: + shared_pub_master = DynamicPubMaster([]) + def __init__(self, sdp: str, cameras: list[str], incoming_services: list[str], outgoing_services: list[str], debug_mode: bool = False): from aiortc.mediastreams import VideoStreamTrack, AudioStreamTrack from aiortc.contrib.media import MediaBlackhole @@ -129,10 +143,11 @@ class StreamSession: self.identifier = str(uuid.uuid4()) self.incoming_bridge: CerealIncomingMessageProxy | None = None + self.incoming_bridge_services = incoming_services self.outgoing_bridge: CerealOutgoingMessageProxy | None = None self.outgoing_bridge_runner: CerealProxyRunner | None = None if len(incoming_services) > 0: - self.incoming_bridge = CerealIncomingMessageProxy(messaging.PubMaster(incoming_services)) + self.incoming_bridge = CerealIncomingMessageProxy(self.shared_pub_master) if len(outgoing_services) > 0: self.outgoing_bridge = CerealOutgoingMessageProxy(messaging.SubMaster(outgoing_services)) self.outgoing_bridge_runner = CerealProxyRunner(self.outgoing_bridge) @@ -168,6 +183,7 @@ class StreamSession: await self.stream.wait_for_connection() if self.stream.has_messaging_channel(): if self.incoming_bridge is not None: + await self.shared_pub_master.add_services_if_needed(self.incoming_bridge_services) self.stream.set_message_handler(self.message_handler) if self.outgoing_bridge_runner is not None: channel = self.stream.get_messaging_channel() From 638aaa9e53459127a0a1bbd757f85ef1ae16098d Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 15:10:58 -0800 Subject: [PATCH 54/94] Platform configs: move tire stiffness into config (#31678) * first one to open PR * mazda * oh it is * fix gm car specs and create MazdaCarSpecs * fix * do honda * ruff --- selfdrive/car/gm/interface.py | 7 ------- selfdrive/car/gm/values.py | 31 +++++++++++++++++------------- selfdrive/car/honda/interface.py | 15 --------------- selfdrive/car/honda/values.py | 33 +++++++++++++++++--------------- selfdrive/car/mazda/interface.py | 1 - selfdrive/car/mazda/values.py | 13 +++++++++---- 6 files changed, 45 insertions(+), 55 deletions(-) diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py index e0dde4d0e9..76f6a6b0a6 100755 --- a/selfdrive/car/gm/interface.py +++ b/selfdrive/car/gm/interface.py @@ -145,15 +145,12 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.00]] ret.lateralTuning.pid.kf = 0.00004 # full torque for 20 deg at 80mph means 0.00007818594 ret.steerActuatorDelay = 0.1 # Default delay, not measured yet - ret.tireStiffnessFactor = 0.444 # not optimized yet ret.steerLimitTimer = 0.4 ret.radarTimeStep = 0.0667 # GM radar runs at 15Hz instead of standard 20Hz ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking if candidate == CAR.VOLT: - ret.tireStiffnessFactor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters - ret.lateralTuning.pid.kpBP = [0., 40.] ret.lateralTuning.pid.kpV = [0., 0.17] ret.lateralTuning.pid.kiBP = [0.] @@ -175,7 +172,6 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.ESCALADE_ESV, CAR.ESCALADE_ESV_2019): ret.minEnableSpeed = -1. # engage speed is decided by pcm - ret.tireStiffnessFactor = 1.0 if candidate == CAR.ESCALADE_ESV: ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]] @@ -186,12 +182,10 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.BOLT_EUV: - ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.SILVERADO: - ret.tireStiffnessFactor = 1.0 # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop # with foot on brake to allow engagement, but this platform only has that check in the camera. # TODO: check if this is split by EV/ICE with more platforms in the future @@ -203,7 +197,6 @@ class CarInterface(CarInterfaceBase): CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.TRAILBLAZER: - ret.tireStiffnessFactor = 1.0 ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index e3414df2bf..bf3c8622c5 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -79,6 +79,11 @@ class GMCarInfo(CarInfo): self.footnotes.append(Footnote.OBD_II) +@dataclass(frozen=True, kw_only=True) +class GMCarSpecs(CarSpecs): + tireStiffnessFactor: float = 0.444 # not optimized yet + + @dataclass class GMPlatformConfig(PlatformConfig): dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis')) @@ -88,47 +93,47 @@ class CAR(Platforms): HOLDEN_ASTRA = GMPlatformConfig( "HOLDEN ASTRA RS-V BK 2017", GMCarInfo("Holden Astra 2017"), - CarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), + GMCarSpecs(mass=1363, wheelbase=2.662, steerRatio=15.7, centerToFrontRatio=0.4), ) VOLT = GMPlatformConfig( "CHEVROLET VOLT PREMIER 2017", GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, video_link="https://youtu.be/QeMCN_4TFfQ"), - CarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45), + GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=17.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469), ) CADILLAC_ATS = GMPlatformConfig( "CADILLAC ATS Premium Performance 2018", GMCarInfo("Cadillac ATS Premium Performance 2018"), - CarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), + GMCarSpecs(mass=1601, wheelbase=2.78, steerRatio=15.3), ) MALIBU = GMPlatformConfig( "CHEVROLET MALIBU PREMIER 2017", GMCarInfo("Chevrolet Malibu Premier 2017"), - CarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), + GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4), ) ACADIA = GMPlatformConfig( "GMC ACADIA DENALI 2018", GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"), - CarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), + GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4), ) BUICK_LACROSSE = GMPlatformConfig( "BUICK LACROSSE 2017", GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"), - CarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), + GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4), ) BUICK_REGAL = GMPlatformConfig( "BUICK REGAL ESSENCE 2018", GMCarInfo("Buick Regal Essence 2018"), - CarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), + GMCarSpecs(mass=1714, wheelbase=2.83, steerRatio=14.4, centerToFrontRatio=0.4), ) ESCALADE = GMPlatformConfig( "CADILLAC ESCALADE 2017", GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"), - CarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), + GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3), ) ESCALADE_ESV = GMPlatformConfig( "CADILLAC ESCALADE ESV 2016", GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"), - CarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3), + GMCarSpecs(mass=2739, wheelbase=3.302, steerRatio=17.3, tireStiffnessFactor=1.0), ) ESCALADE_ESV_2019 = GMPlatformConfig( "CADILLAC ESCALADE ESV 2019", @@ -141,7 +146,7 @@ class CAR(Platforms): GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"), GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"), ], - CarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4), + GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), ) SILVERADO = GMPlatformConfig( "CHEVROLET SILVERADO 1500 2020", @@ -149,17 +154,17 @@ class CAR(Platforms): GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"), GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"), ], - CarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3), + GMCarSpecs(mass=2450, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0), ) EQUINOX = GMPlatformConfig( "CHEVROLET EQUINOX 2019", GMCarInfo("Chevrolet Equinox 2019-22"), - CarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), + GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4), ) TRAILBLAZER = GMPlatformConfig( "CHEVROLET TRAILBLAZER 2021", GMCarInfo("Chevrolet Trailblazer 2021-22"), - CarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4), + GMCarSpecs(mass=1345, wheelbase=2.64, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0), ) diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py index 9c39c4694f..f791d4b639 100755 --- a/selfdrive/car/honda/interface.py +++ b/selfdrive/car/honda/interface.py @@ -111,7 +111,6 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ACCORD: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.8467 if eps_modified: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]] @@ -120,12 +119,10 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.ACURA_ILX: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.72 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate in (CAR.CRV, CAR.CRV_EU): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] ret.wheelSpeedFactor = 1.025 @@ -139,28 +136,23 @@ class CarInterface(CarInterfaceBase): else: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.64], [0.192]] - ret.tireStiffnessFactor = 0.677 ret.wheelSpeedFactor = 1.025 elif candidate == CAR.CRV_HYBRID: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.677 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] ret.wheelSpeedFactor = 1.025 elif candidate == CAR.FIT: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate == CAR.FREED: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] - ret.tireStiffnessFactor = 0.75 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]] elif candidate in (CAR.HRV, CAR.HRV_3G): ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] - ret.tireStiffnessFactor = 0.5 if candidate == CAR.HRV: ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]] ret.wheelSpeedFactor = 1.025 @@ -168,17 +160,14 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] # TODO: can probably use some tuning elif candidate == CAR.ACURA_RDX: - ret.tireStiffnessFactor = 0.444 ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]] # TODO: determine if there is a dead zone at the top end ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]] elif candidate == CAR.ACURA_RDX_3G: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]] ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]] - ret.tireStiffnessFactor = 0.677 elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN): - ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]] if candidate == CAR.ODYSSEY_CHN: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]] # TODO: determine if there is a dead zone at the top end @@ -187,22 +176,18 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.PILOT: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.RIDGELINE: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.444 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]] elif candidate == CAR.INSIGHT: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] elif candidate == CAR.HONDA_E: ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]] # TODO: determine if there is a dead zone at the top end - ret.tireStiffnessFactor = 0.82 ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning else: diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index a6b7d26567..4bcbf00735 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -117,7 +117,8 @@ class CAR(Platforms): HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS), HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), ], - CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39), # steerRatio: 11.82 is spec end-to-end + # steerRatio: 11.82 is spec end-to-end + CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467), dbc_dict('honda_accord_2018_can_generated', None), ) CIVIC_BOSCH = HondaBoschPlatformConfig( @@ -149,40 +150,42 @@ class CAR(Platforms): CRV_5G = HondaBoschPlatformConfig( "HONDA CR-V 2017", HondaCarInfo("Honda CR-V 2017-22", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41), # steerRatio: 12.3 is spec end-to-end + # steerRatio: 12.3 is spec end-to-end + CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), dbc_dict('honda_crv_ex_2017_can_generated', None, body_dbc='honda_crv_ex_2017_body_generated'), flags=HondaFlags.BOSCH_ALT_BRAKE, ) CRV_HYBRID = HondaBoschPlatformConfig( "HONDA CR-V HYBRID 2019", HondaCarInfo("Honda CR-V Hybrid 2017-20", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41), # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end + # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end + CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), dbc_dict('honda_accord_2018_can_generated', None), ) HRV_3G = HondaBoschPlatformConfig( "HONDA HR-V 2023", HondaCarInfo("Honda HR-V 2023", "All"), - CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41), + CarSpecs(mass=3125 * CV.LB_TO_KG, wheelbase=2.61, steerRatio=15.2, centerToFrontRatio=0.41, tireStiffnessFactor=0.5), dbc_dict('honda_civic_ex_2022_can_generated', None), flags=HondaFlags.BOSCH_RADARLESS | HondaFlags.BOSCH_ALT_BRAKE, ) ACURA_RDX_3G = HondaBoschPlatformConfig( "ACURA RDX 2020", HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41), # as spec + CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677), # as spec dbc_dict('acura_rdx_2020_can_generated', None), flags=HondaFlags.BOSCH_ALT_BRAKE, ) INSIGHT = HondaBoschPlatformConfig( "HONDA INSIGHT 2019", HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39), # as spec + CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82), # as spec dbc_dict('honda_insight_ex_2019_can_generated', None), ) HONDA_E = HondaBoschPlatformConfig( "HONDA E 2020", HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS), - CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71), + CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82), dbc_dict('acura_rdx_2020_can_generated', None), ) @@ -190,14 +193,14 @@ class CAR(Platforms): ACURA_ILX = HondaNidecPlatformConfig( "ACURA ILX 2016", HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS), - CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37), # 15.3 is spec end-to-end + CarSpecs(mass=3095 * CV.LB_TO_KG, wheelbase=2.67, steerRatio=18.61, centerToFrontRatio=0.37, tireStiffnessFactor=0.72), # 15.3 is spec end-to-end dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) CRV = HondaNidecPlatformConfig( "HONDA CR-V 2016", HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41), # as spec + CarSpecs(mass=3572 * CV.LB_TO_KG, wheelbase=2.62, steerRatio=16.89, centerToFrontRatio=0.41, tireStiffnessFactor=0.444), # as spec dbc_dict('honda_crv_touring_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) @@ -211,14 +214,14 @@ class CAR(Platforms): FIT = HondaNidecPlatformConfig( "HONDA FIT 2018", HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39), + CarSpecs(mass=2644 * CV.LB_TO_KG, wheelbase=2.53, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) FREED = HondaNidecPlatformConfig( "HONDA FREED 2020", HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39), # mostly copied from FIT + CarSpecs(mass=3086. * CV.LB_TO_KG, wheelbase=2.74, steerRatio=13.06, centerToFrontRatio=0.39, tireStiffnessFactor=0.75), # mostly copied from FIT dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) @@ -232,7 +235,7 @@ class CAR(Platforms): ODYSSEY = HondaNidecPlatformConfig( "HONDA ODYSSEY 2018", HondaCarInfo("Honda Odyssey 2018-20"), - CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41), + CarSpecs(mass=1900, wheelbase=3.0, steerRatio=14.35, centerToFrontRatio=0.41, tireStiffnessFactor=0.82), dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_PCM_ACCEL, ) @@ -246,7 +249,7 @@ class CAR(Platforms): ACURA_RDX = HondaNidecPlatformConfig( "ACURA RDX 2018", HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38), # as spec + CarSpecs(mass=3925 * CV.LB_TO_KG, wheelbase=2.68, steerRatio=15.0, centerToFrontRatio=0.38, tireStiffnessFactor=0.444), # as spec dbc_dict('acura_rdx_2018_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) @@ -256,14 +259,14 @@ class CAR(Platforms): HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS), HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS), ], - CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0), # as spec + CarSpecs(mass=4278 * CV.LB_TO_KG, wheelbase=2.86, centerToFrontRatio=0.428, steerRatio=16.0, tireStiffnessFactor=0.444), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) RIDGELINE = HondaNidecPlatformConfig( "HONDA RIDGELINE 2017", HondaCarInfo("Honda Ridgeline 2017-24", min_steer_speed=12. * CV.MPH_TO_MS), - CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59), # as spec + CarSpecs(mass=4515 * CV.LB_TO_KG, wheelbase=3.18, centerToFrontRatio=0.41, steerRatio=15.59, tireStiffnessFactor=0.444), # as spec dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'), flags=HondaFlags.NIDEC_ALT_SCM_MESSAGES, ) diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py index a138318b1a..85be0166ce 100755 --- a/selfdrive/car/mazda/interface.py +++ b/selfdrive/car/mazda/interface.py @@ -20,7 +20,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.8 - ret.tireStiffnessFactor = 0.70 # not optimized yet CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index f45e80c119..d8f5aa85dd 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -32,6 +32,11 @@ class MazdaCarInfo(CarInfo): car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda])) +@dataclass(frozen=True, kw_only=True) +class MazdaCarSpecs(CarSpecs): + tireStiffnessFactor: float = 0.7 # not optimized yet + + class MazdaFlags(IntFlag): # Static flags # Gen 1 hardware: same CAN messages and same camera @@ -48,22 +53,22 @@ class CAR(Platforms): CX5 = MazdaPlatformConfig( "MAZDA CX-5", MazdaCarInfo("Mazda CX-5 2017-21"), - CarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) + MazdaCarSpecs(mass=3655 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.5) ) CX9 = MazdaPlatformConfig( "MAZDA CX-9", MazdaCarInfo("Mazda CX-9 2016-20"), - CarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) + MazdaCarSpecs(mass=4217 * CV.LB_TO_KG, wheelbase=3.1, steerRatio=17.6) ) MAZDA3 = MazdaPlatformConfig( "MAZDA 3", MazdaCarInfo("Mazda 3 2017-18"), - CarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) + MazdaCarSpecs(mass=2875 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=14.0) ) MAZDA6 = MazdaPlatformConfig( "MAZDA 6", MazdaCarInfo("Mazda 6 2017-20"), - CarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) + MazdaCarSpecs(mass=3443 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=15.5) ) CX9_2021 = MazdaPlatformConfig( "MAZDA CX-9 2021", From fb81cfe3c41fabb33effa4027bb5eed95ced9f19 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Tue, 5 Mar 2024 23:33:39 +0000 Subject: [PATCH 55/94] fw_versions: add more type hints (#31577) * fw_versions: add more type hints * cleanup * fixes * more implicit optional * Update selfdrive/car/fw_versions.py * backslash is unnecessary inside parenthesis --------- Co-authored-by: Shane Smiskol --- selfdrive/car/fw_versions.py | 54 ++++++++++++++++++++---------------- 1 file changed, 30 insertions(+), 24 deletions(-) diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py index 7673814195..c200528ca6 100755 --- a/selfdrive/car/fw_versions.py +++ b/selfdrive/car/fw_versions.py @@ -1,19 +1,20 @@ #!/usr/bin/env python3 from collections import defaultdict -from typing import Any, TypeVar from collections.abc import Iterator +from typing import Any, Protocol, TypeVar + from tqdm import tqdm import capnp import panda.python.uds as uds from cereal import car from openpilot.common.params import Params +from openpilot.common.swaglog import cloudlog from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs -from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig -from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.fingerprints import FW_VERSIONS +from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType, FwQueryConfig, LiveFwVersions, OfflineFwVersions +from openpilot.selfdrive.car.interfaces import get_interface_attr from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery -from openpilot.common.swaglog import cloudlog Ecu = car.CarParams.Ecu ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa] @@ -38,8 +39,7 @@ def is_brand(brand: str, filter_brand: str | None) -> bool: return filter_brand is None or brand == filter_brand -def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], - filter_brand: str = None) -> dict[AddrType, set[bytes]]: +def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], filter_brand: str = None) -> dict[AddrType, set[bytes]]: fw_versions_dict: defaultdict[AddrType, set[bytes]] = defaultdict(set) for fw in fw_versions: if is_brand(fw.brand, filter_brand) and not fw.logging: @@ -48,7 +48,12 @@ def build_fw_dict(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], return dict(fw_versions_dict) -def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None): +class MatchFwToCar(Protocol): + def __call__(self, live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True) -> set[str]: + ... + + +def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, exclude: str = None) -> set[str]: """Do a fuzzy FW match. This function will return a match, and the number of firmware version that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars the match is rejected.""" @@ -73,7 +78,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= all_fw_versions[(addr[1], addr[2], f)].append(candidate) matched_ecus = set() - candidate = None + match: str | None = None for addr, versions in live_fw_versions.items(): ecu_key = (addr[0], addr[1]) for version in versions: @@ -82,23 +87,23 @@ def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude= if len(candidates) == 1: matched_ecus.add(ecu_key) - if candidate is None: - candidate = candidates[0] + if match is None: + match = candidates[0] # We uniquely matched two different cars. No fuzzy match possible - elif candidate != candidates[0]: + elif match != candidates[0]: return set() # Note that it is possible to match to a candidate without all its ECUs being present # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching - if len(matched_ecus) >= 2: + if match and len(matched_ecus) >= 2: if log: - cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs") - return {candidate} + cloudlog.error(f"Fingerprinted {match} using fuzzy match. {len(matched_ecus)} matching ECUs") + return {match} else: return set() -def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw_versions=None) -> set[str]: +def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = None, log: bool = True, extra_fw_versions: dict = None) -> set[str]: """Do an exact FW match. Returns all cars that match the given FW versions for a list of "essential" ECUs. If an ECU is not considered essential the FW version can be missing to get a fingerprint, but if it's present it @@ -139,9 +144,10 @@ def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True, extra_fw return set(candidates.keys()) - invalid -def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): +def match_fw_to_car(fw_versions: list[capnp.lib.capnp._DynamicStructBuilder], allow_exact: bool = True, allow_fuzzy: bool = True, + log: bool = True) -> tuple[bool, set[str]]: # Try exact matching first - exact_matches = [] + exact_matches: list[tuple[bool, MatchFwToCar]] = [] if allow_exact: exact_matches = [(True, match_fw_to_car_exact)] if allow_fuzzy: @@ -149,7 +155,7 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): for exact_match, match_func in exact_matches: # For each brand, attempt to fingerprint using all FW returned from its queries - matches = set() + matches: set[str] = set() for brand in VERSIONS.keys(): fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand) matches |= match_func(fw_versions_dict, match_brand=brand, log=log) @@ -165,12 +171,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True): return True, set() -def get_present_ecus(logcan, sendcan, num_pandas=1) -> set[EcuAddrBusType]: +def get_present_ecus(logcan, sendcan, num_pandas: int = 1) -> set[EcuAddrBusType]: params = Params() # queries are split by OBD multiplexing mode queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []} parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []} - responses = set() + responses: set[EcuAddrBusType] = set() for brand, config, r in REQUESTS: # Skip query if no panda available @@ -231,8 +237,8 @@ def set_obd_multiplexing(params: Params, obd_multiplexing: bool): cloudlog.warning("OBD multiplexing set successfully") -def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ - list[capnp.lib.capnp._DynamicStructBuilder]: +def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, + debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]: """Queries for FW versions ordering brands by likelihood, breaks when exact match is found""" all_car_fw = [] @@ -254,8 +260,8 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand return all_car_fw -def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \ - list[capnp.lib.capnp._DynamicStructBuilder]: +def get_fw_versions(logcan, sendcan, query_brand: str = None, extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, + debug: bool = False, progress: bool = False) -> list[capnp.lib.capnp._DynamicStructBuilder]: versions = VERSIONS.copy() params = Params() From ecce4663d3f90d69c4592d3496de650c6714a75f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Kacper=20R=C4=85czy?= Date: Wed, 6 Mar 2024 01:45:47 +0100 Subject: [PATCH 56/94] RadarInterfaceBase: remove no_radar_sleep field (#31715) Remove no_radar_sleep field from base radar interface --- selfdrive/car/interfaces.py | 1 - 1 file changed, 1 deletion(-) diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py index 9a78eea856..9e9e668981 100644 --- a/selfdrive/car/interfaces.py +++ b/selfdrive/car/interfaces.py @@ -334,7 +334,6 @@ class RadarInterfaceBase(ABC): self.delay = 0 self.radar_ts = CP.radarTimeStep self.frame = 0 - self.no_radar_sleep = 'NO_RADAR_SLEEP' in os.environ def update(self, can_strings): self.frame += 1 From ccda4119a8ce539c475a820ae53600b048599088 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 17:49:18 -0800 Subject: [PATCH 57/94] Hyundai Azera: allow fingerprinting without comma power (#31717) * do azera * azera is same * need to do this --- selfdrive/car/hyundai/values.py | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bf0aa58999..babbc189be 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -650,10 +650,16 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]: expected_dates = {date for _, date in codes if date is not None} # Found platform codes & dates - codes = get_platform_codes(live_fw_versions.get(addr, set())) + found_versions = live_fw_versions.get(addr, set()) + codes = get_platform_codes(found_versions) found_platform_codes = {code for code, _ in codes} found_dates = {date for _, date in codes if date is not None} + # Some models are missing ECUs + if not len(found_versions) and candidate in FW_QUERY_CONFIG.non_essential_ecus.get(ecu[0], []): + valid_found_ecus.add(addr) + continue + # Check platform code + part number matches for any found versions if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): break @@ -801,6 +807,13 @@ FW_QUERY_CONFIG = FwQueryConfig( obd_multiplexing=False, ), ], + # We lose these ECUs without the comma power on these cars. + # Note that we still attempt to match with them when they are present + non_essential_ecus={ + Ecu.eps: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], # FIXME: EPS responds on a few cars from PT + Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], + Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], + }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) From 1ffc58a69a94efd70bf215bc9a324f17513bec85 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 17:51:13 -0800 Subject: [PATCH 58/94] Revert "Hyundai Azera: allow fingerprinting without comma power" (#31718) Revert "Hyundai Azera: allow fingerprinting without comma power (#31717)" This reverts commit ccda4119a8ce539c475a820ae53600b048599088. --- selfdrive/car/hyundai/values.py | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index babbc189be..bf0aa58999 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -650,16 +650,10 @@ def match_fw_to_car_fuzzy(live_fw_versions, offline_fw_versions) -> set[str]: expected_dates = {date for _, date in codes if date is not None} # Found platform codes & dates - found_versions = live_fw_versions.get(addr, set()) - codes = get_platform_codes(found_versions) + codes = get_platform_codes(live_fw_versions.get(addr, set())) found_platform_codes = {code for code, _ in codes} found_dates = {date for _, date in codes if date is not None} - # Some models are missing ECUs - if not len(found_versions) and candidate in FW_QUERY_CONFIG.non_essential_ecus.get(ecu[0], []): - valid_found_ecus.add(addr) - continue - # Check platform code + part number matches for any found versions if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes): break @@ -807,13 +801,6 @@ FW_QUERY_CONFIG = FwQueryConfig( obd_multiplexing=False, ), ], - # We lose these ECUs without the comma power on these cars. - # Note that we still attempt to match with them when they are present - non_essential_ecus={ - Ecu.eps: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], # FIXME: EPS responds on a few cars from PT - Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], - Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], - }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) From 2d2695cd6e474f1d2c084f912303374dfa93b5bc Mon Sep 17 00:00:00 2001 From: MJ Kim Date: Wed, 6 Mar 2024 11:00:39 +0900 Subject: [PATCH 59/94] Hyundai: AZERA_HEV_6TH_GEN (Update fingerprints.py) (#31684) * Update fingerprints.py Hyundai AZERA_HEV_6TH_GEN * no new CAN fingerprints * no crnr rdr * Update selfdrive/car/hyundai/fingerprints.py --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index d1fc1faabb..f23e173653 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -100,15 +100,18 @@ FW_VERSIONS = { CAR.AZERA_HEV_6TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.00 99211-G8000 180903', + b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.01 99211-G8000 181109', b'\xf1\x00IGH MFC AT KOR LHD 1.00 1.02 99211-G8100 191029', ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00IG MDPS C 1.00 1.00 56310M9600\x00 4IHSC100', b'\xf1\x00IG MDPS C 1.00 1.01 56310M9350\x00 4IH8C101', + b'\xf1\x00IG MDPS C 1.00 1.02 56310M9350\x00 4IH8C102', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00IGhe SCC FHCUP 1.00 1.00 99110-M9100 ', b'\xf1\x00IGhe SCC FHCUP 1.00 1.01 99110-M9000 ', + b'\xf1\x00IGhe SCC FHCUP 1.00 1.02 99110-M9000 ', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x006T7N0_C2\x00\x006T7Q2051\x00\x00TIG2H24KA2\x12@\x11\xb7', From 6919c3744563e0c24acfd7395fdf297d3152d970 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 18:00:47 -0800 Subject: [PATCH 60/94] Reapply "Hyundai Azera: allow fingerprinting without comma power (#31717)" (#31719) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Revert "Revert "Hyundai Azera: allow fingerprinting without comma power" (#31…" This reverts commit 1ffc58a69a94efd70bf215bc9a324f17513bec85. * we should get EPS * add EPS to non-logging can 0 query --- selfdrive/car/hyundai/values.py | 8 +++++++- 1 file changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index bf0aa58999..ec4dadbcfc 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -731,7 +731,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Request( [HYUNDAI_VERSION_REQUEST_LONG], [HYUNDAI_VERSION_RESPONSE], - whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac], + whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac, Ecu.eps], bus=0, auxiliary=True, ), @@ -801,6 +801,12 @@ FW_QUERY_CONFIG = FwQueryConfig( obd_multiplexing=False, ), ], + # We lose these ECUs without the comma power on these cars. + # Note that we still attempt to match with them when they are present + non_essential_ecus={ + Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], + Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], + }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms (Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms) From 95a80fd2cd326c9dba3cbbfc5708ef284aec78c6 Mon Sep 17 00:00:00 2001 From: noname314 Date: Wed, 6 Mar 2024 11:08:32 +0900 Subject: [PATCH 61/94] HKG: Add FW versions and Enable Radar Tracks for KOR Sonata DN8 Hybrid 2020 (#31371) * HKG: Add FW versions for KOR Sonata DN8 Hybrid 2020 * HKG: Enable radar tracks for KOR Sonata DN8 Hybrid 2020 * rm extra --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 5 +++++ selfdrive/debug/hyundai_enable_radar_points.py | 3 +++ 2 files changed, 8 insertions(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index f23e173653..59130e3e35 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1479,11 +1479,13 @@ FW_VERSIONS = { CAR.SONATA_HYBRID: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', + b'\xf1\x00DNhe SCC FHCUP 1.00 1.00 99110-L5000 ', b'\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', b'\xf1\x8799110L5000\xf1\x00DNhe SCC F-CUP 1.00 1.02 99110-L5000 ', b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP 1.00 1.02 99110-L5000 ', ], (Ecu.eps, 0x7d4, None): [ + b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L5000 4DNHC101', b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.02 56310-L5450 4DNHC102', b'\xf1\x8756310-L5450\xf1\x00DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103', @@ -1491,12 +1493,14 @@ FW_VERSIONS = { b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DN8HMFC AT KOR LHD 1.00 1.03 99211-L1000 190705', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.04 99211-L1000 191016', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.05 99211-L1000 201109', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.06 99211-L1000 210325', b'\xf1\x00DN8HMFC AT USA LHD 1.00 1.07 99211-L1000 211223', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00PSBG2314 E07\x00\x00\x00\x00\x00\x00\x00TDN2H20KA5\xba\x82\xc7\xc3', b'\xf1\x00PSBG2323 E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e', b'\xf1\x00PSBG2333 E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW', b'\xf1\x00PSBG2333 E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab', @@ -1506,6 +1510,7 @@ FW_VERSIONS = { ], (Ecu.engine, 0x7e0, None): [ b'\xf1\x87391062J002', + b'\xf1\x87391162J011', b'\xf1\x87391162J012', b'\xf1\x87391162J013', b'\xf1\x87391162J014', diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py index 7735391f4f..e5cae0d470 100755 --- a/selfdrive/debug/hyundai_enable_radar_points.py +++ b/selfdrive/debug/hyundai_enable_radar_points.py @@ -36,6 +36,9 @@ SUPPORTED_FW_VERSIONS = { default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), # 2021 SONATA HYBRID + b"DNhe SCC FHCUP 1.00 1.00 99110-L5000\x19\x04&\x13' ": ConfigValues( + default_config=b"\x00\x00\x00\x01\x00\x00", + tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), b"DNhe SCC FHCUP 1.00 1.02 99110-L5000 \x01#\x15# ": ConfigValues( default_config=b"\x00\x00\x00\x01\x00\x00", tracks_enabled=b"\x00\x00\x00\x01\x00\x01"), From 9f5d316c7a7e57a329789f1ef8ea026e2648cf32 Mon Sep 17 00:00:00 2001 From: Saber <81108166+Saber422@users.noreply.github.com> Date: Wed, 6 Mar 2024 11:50:06 +0800 Subject: [PATCH 62/94] VW MQB: Add FW for 2023 Karoq (#30713) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * VW MQB: Add FW for 2023 Karoq route name：9c3d97394a78e872|2023-12-12--14-39-47--6 * add to fp --------- Co-authored-by: Shane Smiskol --- selfdrive/car/volkswagen/fingerprints.py | 2 ++ 1 file changed, 2 insertions(+) diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index d2c85d0fc5..bf962db439 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -949,6 +949,7 @@ FW_VERSIONS = { }, CAR.SKODA_KAROQ_MK1: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x8705E906013CL\xf1\x892541', b'\xf1\x8705E906013H \xf1\x892407', b'\xf1\x8705E906018P \xf1\x895472', b'\xf1\x8705E906018P \xf1\x896020', @@ -969,6 +970,7 @@ FW_VERSIONS = { b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100600', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', From 5bb223a7bf0629fc48aee7c395f08da3c7364cdf Mon Sep 17 00:00:00 2001 From: dgcntrk <35061839+dgcntrk@users.noreply.github.com> Date: Tue, 5 Mar 2024 20:59:55 -0700 Subject: [PATCH 63/94] Hyundai: add Tucson 2022 PHEV camera FW version (#31408) * Update fingerprints.py Hyundai Tucson 2022 phev * Apply suggestions from code review * format --------- Co-authored-by: Shane Smiskol --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 59130e3e35..cc3ac3630b 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1578,6 +1578,7 @@ FW_VERSIONS = { }, CAR.TUCSON_4TH_GEN: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.01 99211-N9100 14A', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N9220 14K', b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 2.02 99211-N9000 14E', b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G', From 8958dbaa09830f4567600855dfc147ddc4a589a2 Mon Sep 17 00:00:00 2001 From: gkiss1977 <78383776+gkiss1977@users.noreply.github.com> Date: Wed, 6 Mar 2024 05:03:57 +0100 Subject: [PATCH 64/94] Added KIA_EV EU EPS fingerprint (#30937) Co-authored-by: Gabriel Kiss --- selfdrive/car/hyundai/fingerprints.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index cc3ac3630b..c58bbd283e 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1094,6 +1094,7 @@ FW_VERSIONS = { b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', + b'\xf1\x00OS MDPS C 1.00 1.04 56310-XX000 4OEDC104', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', From ed395190149c4b509b8bee9e0f18108a5bc6ce8e Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 20:08:15 -0800 Subject: [PATCH 65/94] Hyundai: remove OBD ECUs for Sonata 2020+ (#31458) no abs on hybrid, and we have eps! --- selfdrive/car/hyundai/values.py | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index ec4dadbcfc..4ed638f436 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -804,8 +804,9 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], - Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN], + Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.SONATA], + Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.SONATA], + Ecu.abs: [CAR.SONATA], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From 7cfc571f5698c8f5d5bce2e39ccbd8a56c729395 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Tue, 5 Mar 2024 20:43:33 -0800 Subject: [PATCH 66/94] timeless routes (#31119) * timeless route * update sort * update test * fix param name --- common/params.cc | 1 + system/loggerd/logger.cc | 11 +---------- system/loggerd/logger.h | 1 - system/loggerd/tests/loggerd_tests_common.py | 4 ++-- tools/lib/route.py | 6 +++++- 5 files changed, 9 insertions(+), 14 deletions(-) diff --git a/common/params.cc b/common/params.cc index aef2cbdecd..f68e1e4c6b 100644 --- a/common/params.cc +++ b/common/params.cc @@ -188,6 +188,7 @@ std::unordered_map keys = { {"RecordFront", PERSISTENT}, {"RecordFrontLock", PERSISTENT}, // for the internal fleet {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION}, + {"RouteCount", PERSISTENT}, {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION}, {"SshEnabled", PERSISTENT}, {"TermsVersion", PERSISTENT}, diff --git a/system/loggerd/logger.cc b/system/loggerd/logger.cc index 7a829a2f1f..f1b187df7f 100644 --- a/system/loggerd/logger.cc +++ b/system/loggerd/logger.cc @@ -89,15 +89,6 @@ kj::Array logger_build_init_data() { return capnp::messageToFlatArray(msg); } -std::string logger_get_route_name() { - char route_name[64] = {'\0'}; - time_t rawtime = time(NULL); - struct tm timeinfo; - localtime_r(&rawtime, &timeinfo); - strftime(route_name, sizeof(route_name), "%Y-%m-%d--%H-%M-%S", &timeinfo); - return route_name; -} - std::string logger_get_identifier(std::string key) { // a log identifier is a 32 bit counter, plus a 10 character unique ID. // e.g. 000001a3--c20ba54385 @@ -131,7 +122,7 @@ static void log_sentinel(LoggerState *log, SentinelType type, int eixt_signal = } LoggerState::LoggerState(const std::string &log_root) { - route_name = logger_get_route_name(); + route_name = logger_get_identifier("RouteCount"); route_path = log_root + "/" + route_name; init_data = logger_build_init_data(); } diff --git a/system/loggerd/logger.h b/system/loggerd/logger.h index dd3bee150c..7a8490d57a 100644 --- a/system/loggerd/logger.h +++ b/system/loggerd/logger.h @@ -52,5 +52,4 @@ protected: }; kj::Array logger_build_init_data(); -std::string logger_get_route_name(); std::string logger_get_identifier(std::string key); diff --git a/system/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py index 42eec2a0f4..877c872b6b 100644 --- a/system/loggerd/tests/loggerd_tests_common.py +++ b/system/loggerd/tests/loggerd_tests_common.py @@ -72,8 +72,8 @@ class UploaderTestCase(unittest.TestCase): uploader.force_wifi = True uploader.allow_sleep = False self.seg_num = random.randint(1, 300) - self.seg_format = "2019-04-18--12-52-54--{}" - self.seg_format2 = "2019-05-18--11-22-33--{}" + self.seg_format = "00000004--0ac3964c96--{}" + self.seg_format2 = "00000005--4c4e99b08b--{}" self.seg_dir = self.seg_format.format(self.seg_num) self.params = Params() diff --git a/tools/lib/route.py b/tools/lib/route.py index bd0ccc1fc3..06a3596d69 100644 --- a/tools/lib/route.py +++ b/tools/lib/route.py @@ -263,6 +263,10 @@ class SegmentRange: def timestamp(self) -> str: return self.m.group("timestamp") + @property + def log_id(self) -> str: + return self.m.group("log_id") + @property def slice(self) -> str: return self.m.group("slice") or "" @@ -291,7 +295,7 @@ class SegmentRange: return list(range(end + 1))[s] def __str__(self) -> str: - return f"{self.dongle_id}/{self.timestamp}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "") + return f"{self.dongle_id}/{self.log_id}" + (f"/{self.slice}" if self.slice else "") + (f"/{self.selector}" if self.selector else "") def __repr__(self) -> str: return self.__str__() From eaefdb386fd05780c31b1294b2bb5cab59cb3147 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 21:34:06 -0800 Subject: [PATCH 67/94] Toyota: Highlander can not do sng as standard (#31721) * . * update docs * fix docs * Update selfdrive/car/toyota/interface.py --- docs/CARS.md | 4 ++-- selfdrive/car/toyota/interface.py | 15 ++++++++------- 2 files changed, 10 insertions(+), 9 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index f601da2beb..654f788908 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -239,9 +239,9 @@ A supported vehicle is one that just works when you install a comma device. All |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| -|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| +|Toyota|Highlander Hybrid 2017-19|All|openpilot available[2](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
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|| |Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[2](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
Parts- 1 RJ45 cable (7 ft)
- 1 Toyota A connector
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 7fd5c9435d..c01086c8de 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -43,6 +43,11 @@ class CarInterface(CarInterfaceBase): stop_and_go = candidate in TSS2_CAR + # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it + # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs + if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): + ret.flags |= ToyotaFlags.SMART_DSU.value + if candidate == CAR.PRIUS: stop_and_go = True # Only give steer angle deadzone to for bad angle sensor prius @@ -68,8 +73,9 @@ class CarInterface(CarInterfaceBase): stop_and_go = True elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): - # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU - stop_and_go = True + # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU. + # For now, don't list stop and go functionality in the docs + stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -111,11 +117,6 @@ class CarInterface(CarInterfaceBase): # Detect flipped signals and enable for C-HR and others ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR - # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it - # 0x2AA is sent by a similar device which intercepts the radar instead of DSU on NO_DSU_CARs - if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): - ret.flags |= ToyotaFlags.SMART_DSU.value - # No radar dbc for cars without DSU which are not TSS 2.0 # TODO: make an adas dbc file for dsu-less models ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) From 342a20ef8eca413fb4e48fc0dafe6bbca7471d1c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 22:50:14 -0800 Subject: [PATCH 68/94] Toyota Highlander: also check unplugged DSU to enable sng (#31723) * also check unplugged DSU * fix --- selfdrive/car/toyota/interface.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index c01086c8de..2ea67cbaa6 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -48,6 +48,11 @@ class CarInterface(CarInterfaceBase): if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): ret.flags |= ToyotaFlags.SMART_DSU.value + # In TSS2 cars, the camera does long control + found_ecus = [fw.ecu for fw in car_fw] + ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ + and not (ret.flags & ToyotaFlags.SMART_DSU) + if candidate == CAR.PRIUS: stop_and_go = True # Only give steer angle deadzone to for bad angle sensor prius @@ -75,7 +80,7 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU. # For now, don't list stop and go functionality in the docs - stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) + stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go @@ -121,11 +126,6 @@ class CarInterface(CarInterfaceBase): # TODO: make an adas dbc file for dsu-less models ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR) - # In TSS2 cars, the camera does long control - found_ecus = [fw.ecu for fw in car_fw] - ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ - and not (ret.flags & ToyotaFlags.SMART_DSU) - # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar. # since we don't yet parse radar on TSS2/TSS-P radar-based ACC cars, gate longitudinal behind experimental toggle use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU) From 2df61a30eb89b426ad937dbc6446326c04a9c73a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 23:04:41 -0800 Subject: [PATCH 69/94] Toyota: flag for cars without PCM accel limit under 19 mph (#31724) use flags --- selfdrive/car/toyota/interface.py | 13 +++++-------- selfdrive/car/toyota/values.py | 6 ++++-- 2 files changed, 9 insertions(+), 10 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 2ea67cbaa6..3c16394f1d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -61,9 +61,6 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) - elif candidate == CAR.PRIUS_V: - stop_and_go = True - elif candidate in (CAR.RAV4, CAR.RAV4H): stop_and_go = True if (candidate in CAR.RAV4H) else False @@ -77,11 +74,6 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): stop_and_go = True - elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDER_TSS2): - # TODO: TSS-P models can do stop and go, but unclear if it requires sDSU or unplugging DSU. - # For now, don't list stop and go functionality in the docs - stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) - elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf @@ -116,6 +108,11 @@ class CarInterface(CarInterfaceBase): elif candidate == CAR.MIRAI: stop_and_go = True + # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. + # For now, don't list stop and go functionality in the docs + if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: + stop_and_go = stop_and_go or bool(ret.flags & ToyotaFlags.SMART_DSU.value) or (ret.enableDsu and not docs) + ret.centerToFront = ret.wheelbase * 0.44 # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction. diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 9989b9225a..5a7b88f55b 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -55,6 +55,8 @@ class ToyotaFlags(IntFlag): # these cars use the Lane Tracing Assist (LTA) message for lateral control ANGLE_CONTROL = 128 NO_STOP_TIMER = 256 + # these cars are speculated to allow stop and go when the DSU is unplugged or disabled with sDSU + SNG_WITHOUT_DSU = 512 class Footnote(Enum): @@ -182,7 +184,7 @@ class CAR(Platforms): ], CarSpecs(mass=4516. * CV.LB_TO_KG, wheelbase=2.8194, steerRatio=16.0, tireStiffnessFactor=0.8), dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'), - flags=ToyotaFlags.NO_STOP_TIMER, + flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, ) HIGHLANDER_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA HIGHLANDER 2020", @@ -207,7 +209,7 @@ class CAR(Platforms): ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED), CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533), dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'), - flags=ToyotaFlags.NO_STOP_TIMER, + flags=ToyotaFlags.NO_STOP_TIMER | ToyotaFlags.SNG_WITHOUT_DSU, ) PRIUS_TSS2 = ToyotaTSS2PlatformConfig( "TOYOTA PRIUS TSS2 2021", From fcd33786ca85a25fb11afc22d4498edd97e6b178 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 23:11:10 -0800 Subject: [PATCH 70/94] Toyota: remove Mirai from interface (#31725) * mirai * just mirai --- selfdrive/car/toyota/interface.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 3c16394f1d..9f3e09cfe7 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -105,9 +105,6 @@ class CarInterface(CarInterfaceBase): elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): stop_and_go = True - elif candidate == CAR.MIRAI: - stop_and_go = True - # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. # For now, don't list stop and go functionality in the docs if ret.flags & ToyotaFlags.SNG_WITHOUT_DSU: From 1b9df8aca62bd57c81d82c7b8fb5683029b507ae Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Tue, 5 Mar 2024 23:23:47 -0800 Subject: [PATCH 71/94] Toyota: move stop and go cars to one tuple (#31726) * One tuple! * rm --- selfdrive/car/toyota/interface.py | 18 ++---------------- 1 file changed, 2 insertions(+), 16 deletions(-) diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 9f3e09cfe7..783307023d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -61,19 +61,10 @@ class CarInterface(CarInterfaceBase): ret.steerActuatorDelay = 0.25 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2) - elif candidate in (CAR.RAV4, CAR.RAV4H): - stop_and_go = True if (candidate in CAR.RAV4H) else False - elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2): stop_and_go = True ret.wheelSpeedFactor = 1.035 - elif candidate in (CAR.CHR, CAR.CHR_TSS2): - stop_and_go = True - - elif candidate in (CAR.CAMRY, CAR.CAMRY_TSS2): - stop_and_go = True - elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALON_TSS2): # starting from 2019, all Avalon variants have stop and go # https://engage.toyota.com/static/images/toyota_safety_sense/TSS_Applicability_Chart.pdf @@ -96,13 +87,8 @@ class CarInterface(CarInterfaceBase): ret.lateralTuning.pid.kf = 0.00004 break - elif candidate == CAR.SIENNA: - stop_and_go = True - - elif candidate == CAR.LEXUS_CTH: - stop_and_go = True - - elif candidate in (CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2): + elif candidate in (CAR.RAV4H, CAR.CHR, CAR.CAMRY, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_NX): + # TODO: Some of these platforms are not advertised to have full range ACC, are they similar to SNG_WITHOUT_DSU cars? stop_and_go = True # TODO: these models can do stop and go, but unclear if it requires sDSU or unplugging DSU. From 0da9a1ea75413a08fb1f2f239b766d5ac3343634 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Mar 2024 00:46:12 -0800 Subject: [PATCH 72/94] [bot] Fingerprints: add missing FW versions from new users (#31682) Export fingerprints --- selfdrive/car/hyundai/fingerprints.py | 5 ++++- selfdrive/car/volkswagen/fingerprints.py | 2 +- 2 files changed, 5 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index c58bbd283e..fa5296cfa7 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -1092,9 +1092,9 @@ FW_VERSIONS = { ], (Ecu.eps, 0x7d4, None): [ b'\xf1\x00OS MDPS C 1.00 1.03 56310/K4550 4OEDC103', + b'\xf1\x00OS MDPS C 1.00 1.04 56310-XX000 4OEDC104', b'\xf1\x00OS MDPS C 1.00 1.04 56310K4000\x00 4OEDC104', b'\xf1\x00OS MDPS C 1.00 1.04 56310K4050\x00 4OEDC104', - b'\xf1\x00OS MDPS C 1.00 1.04 56310-XX000 4OEDC104', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00OSev SCC F-CUP 1.00 1.00 99110-K4000 ', @@ -1555,7 +1555,9 @@ FW_VERSIONS = { b'\xf1\x00NE1_ RDR ----- 1.00 1.00 99110-GI000 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813', + b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI010 230110', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007', b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206', b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.00 99211-GI020 230719', @@ -1573,6 +1575,7 @@ FW_VERSIONS = { b'\xf1\x00CE__ RDR ----- 1.00 1.01 99110-KL000 ', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00CE MFC AT CAN LHD 1.00 1.04 99211-KL000 221213', b'\xf1\x00CE MFC AT EUR LHD 1.00 1.03 99211-KL000 221011', b'\xf1\x00CE MFC AT USA LHD 1.00 1.04 99211-KL000 221213', ], diff --git a/selfdrive/car/volkswagen/fingerprints.py b/selfdrive/car/volkswagen/fingerprints.py index bf962db439..f6b3c49982 100644 --- a/selfdrive/car/volkswagen/fingerprints.py +++ b/selfdrive/car/volkswagen/fingerprints.py @@ -969,8 +969,8 @@ FW_VERSIONS = { (Ecu.eps, 0x712, None): [ b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500', - b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100600', + b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700', ], (Ecu.fwdRadar, 0x757, None): [ b'\xf1\x872Q0907572AA\xf1\x890396', From 1644572be282283c20d90a09a606666366da5e4a Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Mar 2024 01:04:31 -0800 Subject: [PATCH 73/94] run_process_on_route: print log location --- selfdrive/debug/run_process_on_route.py | 1 + 1 file changed, 1 insertion(+) diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py index 441de9ef57..90db14bc9a 100755 --- a/selfdrive/debug/run_process_on_route.py +++ b/selfdrive/debug/run_process_on_route.py @@ -27,4 +27,5 @@ if __name__ == "__main__": outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime) fn = f"{args.route.replace('/', '_')}_{args.process}.bz2" + print(f"Saved log to {fn}") save_log(fn, outputs) From a2de0115b3cc46521f395953d97a94cd846c5f9d Mon Sep 17 00:00:00 2001 From: James <91348155+FrogAi@users.noreply.github.com> Date: Wed, 6 Mar 2024 02:06:06 -0700 Subject: [PATCH 74/94] Toyota TSS2: parse distance button (#31722) * Enable the distance button to switch personalities for Toyota/Lexus * Default to the "standard" personality for now * only parsing first * only parse * no personality in card * safe * comment --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carstate.py | 8 ++++++++ selfdrive/car/toyota/interface.py | 6 +++++- 2 files changed, 13 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index e4ea0d30f9..caaf7c2e17 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -40,6 +40,9 @@ class CarState(CarStateBase): self.accurate_steer_angle_seen = False self.angle_offset = FirstOrderFilter(None, 60.0, DT_CTRL, initialized=False) + self.prev_distance_button = 0 + self.distance_button = 0 + self.low_speed_lockout = False self.acc_type = 1 self.lkas_hud = {} @@ -163,6 +166,11 @@ class CarState(CarStateBase): if self.CP.carFingerprint != CAR.PRIUS_V: self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) + # distance button is wired to the ACC module (camera or radar) + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + self.prev_distance_button = self.distance_button + self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] + return ret @staticmethod diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index 783307023d..bd982728a5 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -3,10 +3,11 @@ from panda import Panda from panda.python import uds from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \ MIN_ACC_SPEED, EPS_SCALE, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.disable_ecu import disable_ecu from openpilot.selfdrive.car.interfaces import CarInterfaceBase +ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName SteerControlType = car.CarParams.SteerControlType @@ -172,6 +173,9 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + # events events = self.create_common_events(ret) From 079b7130978f251a6e67bd9a076a3e1035847706 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Mar 2024 02:40:31 -0800 Subject: [PATCH 75/94] Lexus: add missing IS 2023 FW versions (#31729) * ahh it has a different engine! * flip --- selfdrive/car/toyota/fingerprints.py | 6 ++++++ selfdrive/car/toyota/values.py | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/toyota/fingerprints.py b/selfdrive/car/toyota/fingerprints.py index b59e1abea4..86d45532fa 100644 --- a/selfdrive/car/toyota/fingerprints.py +++ b/selfdrive/car/toyota/fingerprints.py @@ -772,16 +772,22 @@ FW_VERSIONS = { b'\x018966353S1000\x00\x00\x00\x00', b'\x018966353S2000\x00\x00\x00\x00', ], + (Ecu.engine, 0x7e0, None): [ + b'\x02353U0000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00', + ], (Ecu.abs, 0x7b0, None): [ b'\x01F15265337200\x00\x00\x00\x00', b'\x01F15265342000\x00\x00\x00\x00', + b'\x01F15265343000\x00\x00\x00\x00', ], (Ecu.eps, 0x7a1, None): [ b'8965B53450\x00\x00\x00\x00\x00\x00', + b'8965B53800\x00\x00\x00\x00\x00\x00', ], (Ecu.fwdRadar, 0x750, 0xf): [ b'\x018821F6201200\x00\x00\x00\x00', b'\x018821F6201300\x00\x00\x00\x00', + b'\x018821F6201400\x00\x00\x00\x00', ], (Ecu.fwdCamera, 0x750, 0x6d): [ b'\x028646F5303300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00', diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 5a7b88f55b..4aa04c12ba 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -549,7 +549,7 @@ FW_QUERY_CONFIG = FwQueryConfig( Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS, CAR.ALPHARD_TSS2], # On some models, the engine can show on two different addresses Ecu.engine: [CAR.HIGHLANDER, CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, - CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], + CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC, CAR.LEXUS_NX, CAR.LEXUS_NX_TSS2, CAR.LEXUS_RX, CAR.LEXUS_RX_TSS2], }, extra_ecus=[ # All known ECUs on a late-model Toyota vehicle not queried here: From e399136cb6468728f4d3f6fd888a3d777f1e292c Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 6 Mar 2024 09:26:36 -0800 Subject: [PATCH 76/94] don't build cabana on device (#31736) --- SConstruct | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/SConstruct b/SConstruct index c08fe48f66..50dbda4b8d 100644 --- a/SConstruct +++ b/SConstruct @@ -388,7 +388,8 @@ SConscript(['selfdrive/SConscript']) if Dir('#tools/cabana/').exists() and GetOption('extras'): SConscript(['tools/replay/SConscript']) - SConscript(['tools/cabana/SConscript']) + if arch != "larch64": + SConscript(['tools/cabana/SConscript']) external_sconscript = GetOption('external_sconscript') if external_sconscript: From 233f0437d901eaa09a233ffb28b44feacced6b52 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Mar 2024 13:56:46 -0500 Subject: [PATCH 77/94] add get_car_interface helper (#31738) add helper --- selfdrive/car/car_helpers.py | 9 +++++++-- 1 file changed, 7 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py index 74499fbbb0..b16e2e5a47 100644 --- a/selfdrive/car/car_helpers.py +++ b/selfdrive/car/car_helpers.py @@ -197,6 +197,11 @@ def fingerprint(logcan, sendcan, num_pandas): return car_platform, finger, vin, car_fw, source, exact_match +def get_car_interface(CP): + CarInterface, CarController, CarState = interfaces[CP.carFingerprint] + return CarInterface(CP, CarController, CarState) + + def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas) @@ -204,14 +209,14 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1): cloudlog.event("car doesn't match any fingerprints", fingerprints=repr(fingerprints), error=True) candidate = "mock" - CarInterface, CarController, CarState = interfaces[candidate] + CarInterface, _, _ = interfaces[candidate] CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False) CP.carVin = vin CP.carFw = car_fw CP.fingerprintSource = source CP.fuzzyFingerprint = not exact_match - return CarInterface(CP, CarController, CarState), CP + return get_car_interface(CP), CP def write_car_param(platform=MOCK.MOCK): params = Params() From 25ccb2426c0b54dbf823b9e7e6d63607b37d9c5a Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Mar 2024 14:22:12 -0500 Subject: [PATCH 78/94] cars: remove CAR_INFO map (#31739) * no carinfo map * smaller diff * not on mock --- selfdrive/car/__init__.py | 8 +- selfdrive/car/body/values.py | 2 +- selfdrive/car/chrysler/values.py | 2 +- selfdrive/car/docs.py | 8 +- selfdrive/car/ford/values.py | 2 +- selfdrive/car/gm/values.py | 2 +- selfdrive/car/honda/values.py | 2 +- selfdrive/car/hyundai/values.py | 2 +- selfdrive/car/mazda/values.py | 2 +- selfdrive/car/mock/values.py | 2 +- selfdrive/car/nissan/values.py | 2 +- selfdrive/car/subaru/values.py | 1 - selfdrive/car/tesla/values.py | 2 +- selfdrive/car/tests/test_docs.py | 7 +- selfdrive/car/tests/test_platform_configs.py | 4 +- selfdrive/car/toyota/values.py | 2 +- selfdrive/car/values.py | 14 +- selfdrive/car/volkswagen/values.py | 2 +- tools/cabana/dbc/generate_dbc_json.py | 6 +- .../examples/subaru_fuzzy_fingerprint.ipynb | 174 +++++++++--------- 20 files changed, 127 insertions(+), 119 deletions(-) diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py index c7af2da686..1f784a4ab2 100644 --- a/selfdrive/car/__init__.py +++ b/selfdrive/car/__init__.py @@ -299,14 +299,14 @@ class Platforms(str, ReprEnum): def create_dbc_map(cls) -> dict[str, DbcDict]: return {p: p.config.dbc_dict for p in cls} - @classmethod - def create_carinfo_map(cls) -> dict[str, CarInfos]: - return {p: p.config.car_info for p in cls} - @classmethod def with_flags(cls, flags: IntFlag) -> set['Platforms']: return {p for p in cls if p.config.flags & flags} + @classmethod + def without_flags(cls, flags: IntFlag) -> set['Platforms']: + return {p for p in cls if not (p.config.flags & flags)} + @classmethod def print_debug(cls, flags): platforms_with_flag = defaultdict(list) diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 82b00ee47d..6e0d0ec596 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -38,5 +38,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 78b22bea45..905e2e7270 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -163,5 +163,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py index caa79a8f87..ce46bd93c2 100755 --- a/selfdrive/car/docs.py +++ b/selfdrive/car/docs.py @@ -11,6 +11,7 @@ from openpilot.common.basedir import BASEDIR from openpilot.selfdrive.car import gen_empty_fingerprint from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.values import PLATFORMS def get_all_footnotes() -> dict[Enum, int]: @@ -27,9 +28,10 @@ CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md") def get_all_car_info() -> list[CarInfo]: all_car_info: list[CarInfo] = [] footnotes = get_all_footnotes() - for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items(): + for model, platform in PLATFORMS.items(): + car_info = platform.config.car_info # If available, uses experimental longitudinal limits for the docs - CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), + CP = interfaces[model][0].get_params(platform, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True) if CP.dashcamOnly or car_info is None: @@ -37,7 +39,7 @@ def get_all_car_info() -> list[CarInfo]: # A platform can include multiple car models if not isinstance(car_info, list): - car_info = (car_info,) + car_info = [car_info,] for _car_info in car_info: if not hasattr(_car_info, "row"): diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index fe776fea72..76f505fa9b 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -209,5 +209,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index bf3c8622c5..17822e0c80 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -247,5 +247,5 @@ CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} STEER_THRESHOLD = 1.0 -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py index 4bcbf00735..4960380bbc 100644 --- a/selfdrive/car/honda/values.py +++ b/selfdrive/car/honda/values.py @@ -352,5 +352,5 @@ HONDA_NIDEC_ALT_SCM_MESSAGES = CAR.with_flags(HondaFlags.NIDEC_ALT_SCM_MESSAGES) HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH) HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 4ed638f436..29a72ba715 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -847,7 +847,7 @@ LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY) UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() if __name__ == "__main__": diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index d8f5aa85dd..20a3ae0ae1 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -108,5 +108,5 @@ FW_QUERY_CONFIG = FwQueryConfig( ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index 74e8bb5fc9..7e399fab73 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -11,4 +11,4 @@ class CAR(Platforms): ) -CAR_INFO = CAR.create_carinfo_map() + diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index cb7289389b..8d33e0e705 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -63,7 +63,7 @@ class CAR(Platforms): ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() # Default diagnostic session diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index 5668678225..acb60628b4 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -263,7 +263,6 @@ FW_QUERY_CONFIG = FwQueryConfig( } ) -CAR_INFO = CAR.create_carinfo_map() DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 3104506e5b..f33e62618c 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -92,5 +92,5 @@ class CarControllerParams: pass -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py index 0cafb508f7..0ee35dd92d 100755 --- a/selfdrive/car/tests/test_docs.py +++ b/selfdrive/car/tests/test_docs.py @@ -5,10 +5,11 @@ import re import unittest from openpilot.common.basedir import BASEDIR -from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr +from openpilot.selfdrive.car.car_helpers import interfaces from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star from openpilot.selfdrive.car.honda.values import CAR as HONDA +from openpilot.selfdrive.car.values import PLATFORMS from openpilot.selfdrive.debug.dump_car_info import dump_car_info from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff @@ -42,10 +43,10 @@ class TestCarDocs(unittest.TestCase): make_model_years[make_model].append(year) def test_missing_car_info(self): - all_car_info_platforms = get_interface_attr("CAR_INFO", combine_brands=True).keys() + all_car_info_platforms = [name for name, config in PLATFORMS.items()] for platform in sorted(interfaces.keys()): with self.subTest(platform=platform): - self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't exist in CarInfo") + self.assertTrue(platform in all_car_info_platforms, f"Platform: {platform} doesn't have a CarInfo entry") def test_naming_conventions(self): # Asserts market-standard car naming conventions by brand diff --git a/selfdrive/car/tests/test_platform_configs.py b/selfdrive/car/tests/test_platform_configs.py index 6a3bafa390..0b42a2b289 100755 --- a/selfdrive/car/tests/test_platform_configs.py +++ b/selfdrive/car/tests/test_platform_configs.py @@ -11,7 +11,9 @@ class TestPlatformConfigs(unittest.TestCase): for platform in PLATFORMS.values(): with self.subTest(platform=str(platform)): self.assertTrue(platform.config._frozen) - self.assertIn("pt", platform.config.dbc_dict) + + if platform != "mock": + self.assertIn("pt", platform.config.dbc_dict) self.assertTrue(len(platform.config.platform_str) > 0) self.assertIsNotNone(platform.config.specs) diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 4aa04c12ba..048e8b1033 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -608,5 +608,5 @@ ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL) # no resume button press required NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py index 3e27870915..24119e2210 100644 --- a/selfdrive/car/values.py +++ b/selfdrive/car/values.py @@ -1,4 +1,4 @@ -from typing import cast +from typing import Any, Callable, cast from openpilot.selfdrive.car.body.values import CAR as BODY from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER from openpilot.selfdrive.car.ford.values import CAR as FORD @@ -6,13 +6,21 @@ from openpilot.selfdrive.car.gm.values import CAR as GM from openpilot.selfdrive.car.honda.values import CAR as HONDA from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI from openpilot.selfdrive.car.mazda.values import CAR as MAZDA +from openpilot.selfdrive.car.mock.values import CAR as MOCK from openpilot.selfdrive.car.nissan.values import CAR as NISSAN from openpilot.selfdrive.car.subaru.values import CAR as SUBARU from openpilot.selfdrive.car.tesla.values import CAR as TESLA from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN -Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN -BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN] +Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN +BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, MOCK, NISSAN, SUBARU, TESLA, TOYOTA, VOLKSWAGEN] PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)} + + +MapFunc = Callable[[Platform], Any] + + +def create_platform_map(func: MapFunc): + return {str(platform): func(platform) for platform in PLATFORMS.values() if func(platform) is not None} diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 6ff913b204..36c82abf03 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -416,5 +416,5 @@ FW_QUERY_CONFIG = FwQueryConfig( extra_ecus=[(Ecu.fwdCamera, 0x74f, None)], ) -CAR_INFO = CAR.create_carinfo_map() + DBC = CAR.create_dbc_map() diff --git a/tools/cabana/dbc/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py index da19e27b77..5a8ef21d8b 100755 --- a/tools/cabana/dbc/generate_dbc_json.py +++ b/tools/cabana/dbc/generate_dbc_json.py @@ -2,13 +2,11 @@ import argparse import json -from openpilot.selfdrive.car.car_helpers import get_interface_attr +from openpilot.selfdrive.car.values import create_platform_map def generate_dbc_json() -> str: - all_cars_by_brand = get_interface_attr("CAR_INFO") - all_dbcs_by_brand = get_interface_attr("DBC") - dbc_map = {car: all_dbcs_by_brand[brand][car]['pt'] for brand, cars in all_cars_by_brand.items() for car in cars if car != 'mock'} + dbc_map = create_platform_map(lambda platform: platform.config.dbc_dict["pt"] if platform != "mock" else None) return json.dumps(dict(sorted(dbc_map.items())), indent=2) diff --git a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb index fbd88a769e..dd223667d8 100644 --- a/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb +++ b/tools/car_porting/examples/subaru_fuzzy_fingerprint.ipynb @@ -2,15 +2,23 @@ "cells": [ { "cell_type": "code", - "execution_count": 148, + "execution_count": 1, "metadata": {}, - "outputs": [], + "outputs": [ + { + "name": "stderr", + "output_type": "stream", + "text": [ + "kj/filesystem-disk-unix.c++:1703: warning: PWD environment variable doesn't match current directory; pwd = /home/batman\n" + ] + } + ], "source": [ "from cereal import car\n", - "from openpilot.selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS\n", + "from openpilot.selfdrive.car.subaru.values import CAR, SubaruFlags\n", "from openpilot.selfdrive.car.subaru.fingerprints import FW_VERSIONS\n", "\n", - "TEST_PLATFORMS = set(c.value for c in CAR) - PREGLOBAL_CARS # preglobal cars seem to have a different format for fingerprints, ignore for now\n", + "TEST_PLATFORMS = CAR.without_flags(SubaruFlags.PREGLOBAL)\n", "\n", "Ecu = car.CarParams.Ecu\n", "\n", @@ -19,22 +27,7 @@ }, { "cell_type": "code", - "execution_count": 149, - "metadata": {}, - "outputs": [], - "source": [ - "from openpilot.selfdrive.car.subaru.values import CAR_INFO\n", - "\n", - "def get_carinfo(model: CAR):\n", - " c = CAR_INFO[model]\n", - " if isinstance(c, list):\n", - " c = c[0]\n", - " return c" - ] - }, - { - "cell_type": "code", - "execution_count": 150, + "execution_count": 2, "metadata": {}, "outputs": [], "source": [ @@ -66,7 +59,7 @@ }, { "cell_type": "code", - "execution_count": 151, + "execution_count": 3, "metadata": {}, "outputs": [], "source": [ @@ -90,7 +83,7 @@ }, { "cell_type": "code", - "execution_count": 152, + "execution_count": 4, "metadata": {}, "outputs": [ { @@ -103,38 +96,9 @@ "SUBARU IMPREZA LIMITED 2019 0c not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", "SUBARU IMPREZA LIMITED 2019 2e not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", "SUBARU IMPREZA LIMITED 2019 3f not in dict_keys([b'\\x18', b'\\x19', b' ', b'!', b'\"', b'#'])\n", - "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n", - "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", - "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", - "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", - "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", - "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", "correct_year=True platform=SUBARU OUTBACK 7TH GEN year=2023 years=[2023]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", - "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", - "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023]\n", - "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", - "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023]\n", - "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n", - "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n", + "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", @@ -145,14 +109,47 @@ "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2020 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU OUTBACK 6TH GEN year=2022 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2019 years=[2020]\n", + "correct_year=False platform=SUBARU CROSSTREK HYBRID 2020 year=2021 years=[2020]\n", + "correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU LEGACY 7TH GEN year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2018 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=True platform=SUBARU IMPREZA LIMITED 2019 year=2019 years=[2017, 2018, 2019]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023, 2024]\n", + "correct_year=False platform=SUBARU FORESTER 2022 year=2021 years=[2022, 2023, 2024]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023, 2024]\n", + "correct_year=True platform=SUBARU FORESTER 2022 year=2022 years=[2022, 2023, 2024]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=False platform=SUBARU IMPREZA SPORT 2020 year=2019 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2020 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", + "correct_year=True platform=SUBARU IMPREZA SPORT 2020 year=2021 years=[2020, 2021, 2022]\n", "correct_year=True platform=SUBARU ASCENT 2023 year=2023 years=[2023]\n", - "correct_year=False platform=SUBARU FORESTER HYBRID 2020 year=2019 years=[2020]\n" + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU ASCENT LIMITED 2019 year=2021 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=False platform=SUBARU FORESTER 2019 year=2018 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2019 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n", + "correct_year=True platform=SUBARU FORESTER 2019 year=2020 years=[2019, 2020, 2021]\n" ] } ], "source": [ "def test_year_code(platform, year):\n", - " years = [int(y) for y in get_carinfo(platform).year_list]\n", + " car_info = CAR(platform).config.car_info\n", + " if isinstance(car_info, list):\n", + " car_info = car_info[0]\n", + " years = [int(y) for y in car_info.year_list]\n", " correct_year = year in years\n", " print(f\"{correct_year=!s: <6} {platform=: <32} {year=: <5} {years=}\")\n", "\n", @@ -163,27 +160,33 @@ }, { "cell_type": "code", - "execution_count": 153, + "execution_count": 5, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019']\n", @@ -196,30 +199,25 @@ "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", "in_possible_platforms=True platform=SUBARU IMPREZA LIMITED 2019 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU LEGACY 7TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", "in_possible_platforms=True platform=SUBARU FORESTER 2022 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", - "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU CROSSTREK HYBRID 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", - "in_possible_platforms=True platform=SUBARU OUTBACK 6TH GEN platforms=['SUBARU OUTBACK 6TH GEN', 'SUBARU LEGACY 7TH GEN', 'SUBARU OUTBACK 7TH GEN']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", + "in_possible_platforms=True platform=SUBARU IMPREZA SPORT 2020 platforms=['SUBARU IMPREZA LIMITED 2019', 'SUBARU IMPREZA SPORT 2020', 'SUBARU CROSSTREK HYBRID 2020']\n", "in_possible_platforms=True platform=SUBARU ASCENT 2023 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", - "in_possible_platforms=True platform=SUBARU FORESTER HYBRID 2020 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n" + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU ASCENT LIMITED 2019 platforms=['SUBARU ASCENT LIMITED 2019', 'SUBARU ASCENT 2023']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n", + "in_possible_platforms=True platform=SUBARU FORESTER 2019 platforms=['SUBARU FORESTER 2019', 'SUBARU FORESTER HYBRID 2020', 'SUBARU FORESTER 2022']\n" ] } ], From 7177ec06312c574aeb21dd261004be44bda5ba29 Mon Sep 17 00:00:00 2001 From: Robbe Derks Date: Wed, 6 Mar 2024 21:14:48 +0100 Subject: [PATCH 79/94] Tesla Raven (#29947) * fingerprinting * wip * bug * fix another bug * fix rebase * clean up raven * forgot to save * one more rename * one more rename * radar fixes * AP1 also has bosch radar * put back dashcamOnly * small fixes * raven flag * fix bug * fix raven flag * bump opendbc * fix radar trigger for non-raven * fix tests? * bump panda * more test fixes * tesla fingerprinting is a bit slower now * fix tests * bump opendbc * bump submodules to master --------- Co-authored-by: Comma Device --- opendbc | 2 +- panda | 2 +- release/files_common | 3 +- selfdrive/car/fw_query_definitions.py | 5 ++ selfdrive/car/tesla/carstate.py | 30 ++++++++--- selfdrive/car/tesla/fingerprints.py | 11 ++++ selfdrive/car/tesla/interface.py | 11 ++-- selfdrive/car/tesla/radar_interface.py | 62 +++++++++++----------- selfdrive/car/tesla/values.py | 34 +++++++----- selfdrive/car/tests/routes.py | 1 + selfdrive/car/tests/test_fw_fingerprint.py | 5 +- selfdrive/car/torque_data/override.toml | 1 + 12 files changed, 105 insertions(+), 62 deletions(-) diff --git a/opendbc b/opendbc index 1745ab5182..ff1f1ff335 160000 --- a/opendbc +++ b/opendbc @@ -1 +1 @@ -Subproject commit 1745ab51825055cd18748013c4a5e3377319e390 +Subproject commit ff1f1ff335261c469635c57c81817afd04663eab diff --git a/panda b/panda index ea156f7c62..41e9610ff8 160000 --- a/panda +++ b/panda @@ -1 +1 @@ -Subproject commit ea156f7c628a371bea9a15a29f9068d5392534ba +Subproject commit 41e9610ff841e4cf62051c6df09c1870f5d12477 diff --git a/release/files_common b/release/files_common index c0be9d3cae..4286c46c90 100644 --- a/release/files_common +++ b/release/files_common @@ -542,7 +542,8 @@ opendbc/vw_golf_mk4.dbc opendbc/vw_mqb_2010.dbc opendbc/tesla_can.dbc -opendbc/tesla_radar.dbc +opendbc/tesla_radar_bosch_generated.dbc +opendbc/tesla_radar_continental_generated.dbc opendbc/tesla_powertrain.dbc tinygrad_repo/openpilot/compile2.py diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py index 80492b4177..236ade49bb 100755 --- a/selfdrive/car/fw_query_definitions.py +++ b/selfdrive/car/fw_query_definitions.py @@ -47,6 +47,11 @@ class StdQueries: MANUFACTURER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER) + SUPPLIER_SOFTWARE_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER) + SUPPLIER_SOFTWARE_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ + p16(uds.DATA_IDENTIFIER_TYPE.SYSTEM_SUPPLIER_ECU_SOFTWARE_VERSION_NUMBER) + UDS_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \ p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) UDS_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \ diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py index 2cb4f09d79..bee652ff30 100644 --- a/selfdrive/car/tesla/carstate.py +++ b/selfdrive/car/tesla/carstate.py @@ -2,7 +2,7 @@ import copy from collections import deque from cereal import car from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS +from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS from openpilot.selfdrive.car.interfaces import CarStateBase from opendbc.can.parser import CANParser from opendbc.can.can_define import CANDefine @@ -37,13 +37,15 @@ class CarState(CarStateBase): ret.brakePressed = bool(cp.vl["BrakeMessage"]["driverBrakeStatus"] != 1) # Steering wheel - self.hands_on_level = cp.vl["EPAS_sysStatus"]["EPAS_handsOnLevel"] - self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacErrorCode"]), None) - steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(cp.vl["EPAS_sysStatus"]["EPAS_eacStatus"]), None) + epas_status = cp_cam.vl["EPAS3P_sysStatus"] if self.CP.carFingerprint == CAR.MODELS_RAVEN else cp.vl["EPAS_sysStatus"] - ret.steeringAngleDeg = -cp.vl["EPAS_sysStatus"]["EPAS_internalSAS"] + self.hands_on_level = epas_status["EPAS_handsOnLevel"] + self.steer_warning = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None) + steer_status = self.can_define.dv["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None) + + ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"] ret.steeringRateDeg = -cp.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"] # This is from a different angle sensor, and at different rate - ret.steeringTorque = -cp.vl["EPAS_sysStatus"]["EPAS_torsionBarTorque"] + ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"] ret.steeringPressed = (self.hands_on_level > 0) ret.steerFaultPermanent = steer_status == "EAC_FAULT" ret.steerFaultTemporary = (self.steer_warning not in ("EAC_ERROR_IDLE", "EAC_ERROR_HANDS_ON")) @@ -85,7 +87,10 @@ class CarState(CarStateBase): ret.rightBlinker = (cp.vl["GTW_carState"]["BC_indicatorRStatus"] == 1) # Seatbelt - ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1) + if self.CP.carFingerprint == CAR.MODELS_RAVEN: + ret.seatbeltUnlatched = (cp.vl["DriverSeat"]["buckleStatus"] != 1) + else: + ret.seatbeltUnlatched = (cp.vl["SDM1"]["SDM_bcklDrivStatus"] != 1) # TODO: blindspot @@ -111,9 +116,14 @@ class CarState(CarStateBase): ("DI_state", 10), ("STW_ACTN_RQ", 10), ("GTW_carState", 10), - ("SDM1", 10), ("BrakeMessage", 50), ] + + if CP.carFingerprint == CAR.MODELS_RAVEN: + messages.append(("DriverSeat", 20)) + else: + messages.append(("SDM1", 10)) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis) @staticmethod @@ -122,4 +132,8 @@ class CarState(CarStateBase): # sig_address, frequency ("DAS_control", 40), ] + + if CP.carFingerprint == CAR.MODELS_RAVEN: + messages.append(("EPAS3P_sysStatus", 100)) + return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis) diff --git a/selfdrive/car/tesla/fingerprints.py b/selfdrive/car/tesla/fingerprints.py index 772ca59efa..9b6f3865be 100644 --- a/selfdrive/car/tesla/fingerprints.py +++ b/selfdrive/car/tesla/fingerprints.py @@ -25,4 +25,15 @@ FW_VERSIONS = { b'\x10#\x01', ], }, + CAR.MODELS_RAVEN: { + (Ecu.electricBrakeBooster, 0x64d, None): [ + b'1037123-00-A', + ], + (Ecu.fwdRadar, 0x671, None): [ + b'\x01\x00\x99\x02\x01\x00\x10\x00\x00AP8.3.03\x00\x10', + ], + (Ecu.eps, 0x730, None): [ + b'SX_0.0.0 (99),SR013.7', + ], + }, } diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py index 537433a350..f989886738 100755 --- a/selfdrive/car/tesla/interface.py +++ b/selfdrive/car/tesla/interface.py @@ -1,7 +1,7 @@ #!/usr/bin/env python3 from cereal import car from panda import Panda -from openpilot.selfdrive.car.tesla.values import CANBUS +from openpilot.selfdrive.car.tesla.values import CANBUS, CAR from openpilot.selfdrive.car import get_safety_config from openpilot.selfdrive.car.interfaces import CarInterfaceBase @@ -28,19 +28,20 @@ class CarInterface(CarInterfaceBase): # Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus # If so, we assume that it is connected to the longitudinal harness. + flags = (Panda.FLAG_TESLA_RAVEN if candidate == CAR.MODELS_RAVEN else 0) if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()): ret.openpilotLongitudinalControl = True + flags |= Panda.FLAG_TESLA_LONG_CONTROL ret.safetyConfigs = [ - get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL), - get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN), + get_safety_config(car.CarParams.SafetyModel.tesla, flags), + get_safety_config(car.CarParams.SafetyModel.tesla, flags | Panda.FLAG_TESLA_POWERTRAIN), ] else: ret.openpilotLongitudinalControl = False - ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)] + ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, flags)] ret.steerLimitTimer = 1.0 ret.steerActuatorDelay = 0.25 - return ret def _update(self, c): diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py index b3e7c7fcb1..599ab31059 100755 --- a/selfdrive/car/tesla/radar_interface.py +++ b/selfdrive/car/tesla/radar_interface.py @@ -1,38 +1,33 @@ #!/usr/bin/env python3 from cereal import car from opendbc.can.parser import CANParser -from openpilot.selfdrive.car.tesla.values import DBC, CANBUS +from openpilot.selfdrive.car.tesla.values import CAR, DBC, CANBUS from openpilot.selfdrive.car.interfaces import RadarInterfaceBase -RADAR_MSGS_A = list(range(0x310, 0x36E, 3)) -RADAR_MSGS_B = list(range(0x311, 0x36F, 3)) -NUM_POINTS = len(RADAR_MSGS_A) - -def get_radar_can_parser(CP): - # Status messages - messages = [ - ('TeslaRadarSguInfo', 10), - ] - - # Radar tracks. There are also raw point clouds available, - # we don't use those. - for i in range(NUM_POINTS): - msg_id_a = RADAR_MSGS_A[i] - msg_id_b = RADAR_MSGS_B[i] - messages.extend([ - (msg_id_a, 8), - (msg_id_b, 8), - ]) - - return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar) class RadarInterface(RadarInterfaceBase): def __init__(self, CP): super().__init__(CP) - self.rcp = get_radar_can_parser(CP) + self.CP = CP + + if CP.carFingerprint == CAR.MODELS_RAVEN: + messages = [('RadarStatus', 16)] + self.num_points = 40 + self.trigger_msg = 1119 + else: + messages = [('TeslaRadarSguInfo', 10)] + self.num_points = 32 + self.trigger_msg = 878 + + for i in range(self.num_points): + messages.extend([ + (f'RadarPoint{i}_A', 16), + (f'RadarPoint{i}_B', 16), + ]) + + self.rcp = CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar) self.updated_messages = set() self.track_id = 0 - self.trigger_msg = RADAR_MSGS_B[-1] def update(self, can_strings): if self.rcp is None: @@ -48,17 +43,24 @@ class RadarInterface(RadarInterfaceBase): # Errors errors = [] - sgu_info = self.rcp.vl['TeslaRadarSguInfo'] if not self.rcp.can_valid: errors.append('canError') - if sgu_info['RADC_HWFail'] or sgu_info['RADC_SGUFail'] or sgu_info['RADC_SensorDirty']: - errors.append('fault') + + if self.CP.carFingerprint == CAR.MODELS_RAVEN: + radar_status = self.rcp.vl['RadarStatus'] + if radar_status['sensorBlocked'] or radar_status['shortTermUnavailable'] or radar_status['vehDynamicsError']: + errors.append('fault') + else: + radar_status = self.rcp.vl['TeslaRadarSguInfo'] + if radar_status['RADC_HWFail'] or radar_status['RADC_SGUFail'] or radar_status['RADC_SensorDirty']: + errors.append('fault') + ret.errors = errors # Radar tracks - for i in range(NUM_POINTS): - msg_a = self.rcp.vl[RADAR_MSGS_A[i]] - msg_b = self.rcp.vl[RADAR_MSGS_B[i]] + for i in range(self.num_points): + msg_a = self.rcp.vl[f'RadarPoint{i}_A'] + msg_b = self.rcp.vl[f'RadarPoint{i}_B'] # Make sure msg A and B are together if msg_a['Index'] != msg_b['Index2']: diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index f33e62618c..43132970b0 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -1,8 +1,7 @@ from collections import namedtuple -from dataclasses import dataclass, field from cereal import car -from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, DbcDict, PlatformConfig, Platforms, dbc_dict +from openpilot.selfdrive.car import AngleRateLimit, CarSpecs, PlatformConfig, Platforms, dbc_dict from openpilot.selfdrive.car.docs_definitions import CarInfo from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries @@ -10,24 +9,25 @@ Ecu = car.CarParams.Ecu Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values']) - -@dataclass -class TeslaPlatformConfig(PlatformConfig): - dbc_dict: DbcDict = field(default_factory=lambda: dbc_dict('tesla_powertrain', 'tesla_radar', chassis_dbc='tesla_can')) - - class CAR(Platforms): - AP1_MODELS = TeslaPlatformConfig( + AP1_MODELS = PlatformConfig( 'TESLA AP1 MODEL S', CarInfo("Tesla AP1 Model S", "All"), - CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0) + CarSpecs(mass=2100., wheelbase=2.959, steerRatio=15.0), + dbc_dict('tesla_powertrain', 'tesla_radar_bosch_generated', chassis_dbc='tesla_can') ) - AP2_MODELS = TeslaPlatformConfig( + AP2_MODELS = PlatformConfig( 'TESLA AP2 MODEL S', CarInfo("Tesla AP2 Model S", "All"), - AP1_MODELS.specs + AP1_MODELS.specs, + AP1_MODELS.dbc_dict + ) + MODELS_RAVEN = PlatformConfig( + 'TESLA MODEL S RAVEN', + CarInfo("Tesla Model S Raven", "All"), + AP1_MODELS.specs, + dbc_dict('tesla_powertrain', 'tesla_radar_continental_generated', chassis_dbc='tesla_can') ) - FW_QUERY_CONFIG = FwQueryConfig( requests=[ @@ -38,6 +38,13 @@ FW_QUERY_CONFIG = FwQueryConfig( rx_offset=0x08, bus=0, ), + Request( + [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.SUPPLIER_SOFTWARE_VERSION_REQUEST], + [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.SUPPLIER_SOFTWARE_VERSION_RESPONSE], + whitelist_ecus=[Ecu.eps], + rx_offset=0x08, + bus=0, + ), Request( [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST], [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE], @@ -48,7 +55,6 @@ FW_QUERY_CONFIG = FwQueryConfig( ] ) - class CANBUS: # Lateral harness chassis = 0 diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py index ff747b5938..92ee7fa923 100755 --- a/selfdrive/car/tests/routes.py +++ b/selfdrive/car/tests/routes.py @@ -289,6 +289,7 @@ routes = [ CarTestRoute("6c14ee12b74823ce|2021-06-30--11-49-02", TESLA.AP1_MODELS), CarTestRoute("bb50caf5f0945ab1|2021-06-19--17-20-18", TESLA.AP2_MODELS), + CarTestRoute("66c1699b7697267d/2024-03-03--13-09-53", TESLA.MODELS_RAVEN), # Segments that test specific issues # Controls mismatch due to interceptor threshold diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py index a8bae29391..b9eadc8cd5 100755 --- a/selfdrive/car/tests/test_fw_fingerprint.py +++ b/selfdrive/car/tests/test_fw_fingerprint.py @@ -263,7 +263,7 @@ class TestFwFingerprintTiming(unittest.TestCase): print(f'get_vin {name} case, query time={self.total_time / self.N} seconds') def test_fw_query_timing(self): - total_ref_time = {1: 8.3, 2: 9.2} + total_ref_time = {1: 8.4, 2: 9.3} brand_ref_times = { 1: { 'gm': 1.0, @@ -275,13 +275,14 @@ class TestFwFingerprintTiming(unittest.TestCase): 'mazda': 0.1, 'nissan': 0.8, 'subaru': 0.45, - 'tesla': 0.2, + 'tesla': 0.3, 'toyota': 1.6, 'volkswagen': 0.65, }, 2: { 'ford': 1.6, 'hyundai': 1.85, + 'tesla': 0.3, } } diff --git a/selfdrive/car/torque_data/override.toml b/selfdrive/car/torque_data/override.toml index 3cf17f3179..3de33b88db 100644 --- a/selfdrive/car/torque_data/override.toml +++ b/selfdrive/car/torque_data/override.toml @@ -18,6 +18,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"] # Tesla has high torque "TESLA AP1 MODEL S" = [nan, 2.5, nan] "TESLA AP2 MODEL S" = [nan, 2.5, nan] +"TESLA MODEL S RAVEN" = [nan, 2.5, nan] # Guess "FORD BRONCO SPORT 1ST GEN" = [nan, 1.5, nan] From 7331b3cc95fbb3bdfb62bb04f0caa8275daa37e2 Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 6 Mar 2024 13:39:49 -0800 Subject: [PATCH 80/94] it's called esim now --- scripts/cell.sh | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/scripts/cell.sh b/scripts/cell.sh index 3f31978af5..4ba007a532 100755 --- a/scripts/cell.sh +++ b/scripts/cell.sh @@ -1,3 +1,3 @@ #!/usr/bin/bash -nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1 -nmcli con up lte +nmcli connection modify --temporary esim ipv4.route-metric 1 ipv6.route-metric 1 +nmcli con up esim From ba068a0f5822dccddb134b8fc520d1716c4ed1f7 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Mar 2024 18:22:07 -0500 Subject: [PATCH 81/94] with_processes: add standalone context manager (#31746) helpers --- selfdrive/test/helpers.py | 40 +++++++++++++++++++++++---------------- 1 file changed, 24 insertions(+), 16 deletions(-) diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py index 210a283699..b345b929ec 100644 --- a/selfdrive/test/helpers.py +++ b/selfdrive/test/helpers.py @@ -1,3 +1,4 @@ +import contextlib import http.server import os import threading @@ -43,27 +44,34 @@ def release_only(f): f(self, *args, **kwargs) return wrap -def with_processes(processes, init_time=0, ignore_stopped=None): + +@contextlib.contextmanager +def processes_context(processes, init_time=0, ignore_stopped=None): ignore_stopped = [] if ignore_stopped is None else ignore_stopped + # start and assert started + for n, p in enumerate(processes): + managed_processes[p].start() + if n < len(processes) - 1: + time.sleep(init_time) + + assert all(managed_processes[name].proc.exitcode is None for name in processes) + + try: + yield [managed_processes[name] for name in processes] + # assert processes are still started + assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped) + finally: + for p in processes: + managed_processes[p].stop() + + +def with_processes(processes, init_time=0, ignore_stopped=None): def wrapper(func): @wraps(func) def wrap(*args, **kwargs): - # start and assert started - for n, p in enumerate(processes): - managed_processes[p].start() - if n < len(processes) - 1: - time.sleep(init_time) - assert all(managed_processes[name].proc.exitcode is None for name in processes) - - # call the function - try: - func(*args, **kwargs) - # assert processes are still started - assert all(managed_processes[name].proc.exitcode is None for name in processes if name not in ignore_stopped) - finally: - for p in processes: - managed_processes[p].stop() + with processes_context(processes, init_time, ignore_stopped): + return func(*args, **kwargs) return wrap return wrapper From ac771290414da337e1f800b23b01360c5471ece4 Mon Sep 17 00:00:00 2001 From: Justin Newberry Date: Wed, 6 Mar 2024 18:24:46 -0500 Subject: [PATCH 82/94] updated: basic e2e update tests (#31742) * e2e update test * that too * fix * fix * fix running in docker * don't think GHA will work * also test switching branches * it's a test * lets not delete that yet * comment * space --- pyproject.toml | 1 + selfdrive/updated/tests/test_updated.py | 172 ++++++++++++++++++++++++ 2 files changed, 173 insertions(+) create mode 100755 selfdrive/updated/tests/test_updated.py diff --git a/pyproject.toml b/pyproject.toml index 99a8602460..0f7734b3b3 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -21,6 +21,7 @@ testpaths = [ "selfdrive/thermald", "selfdrive/test/longitudinal_maneuvers", "selfdrive/test/process_replay/test_fuzzy.py", + "selfdrive/updated", "system/camerad", "system/hardware/tici", "system/loggerd", diff --git a/selfdrive/updated/tests/test_updated.py b/selfdrive/updated/tests/test_updated.py new file mode 100755 index 0000000000..d8ce9f3394 --- /dev/null +++ b/selfdrive/updated/tests/test_updated.py @@ -0,0 +1,172 @@ +#!/usr/bin/env python3 +import os +import pathlib +import shutil +import signal +import subprocess +import tempfile +import time +import unittest +from unittest import mock + +import pytest +from openpilot.selfdrive.manager.process import ManagerProcess + + +from openpilot.selfdrive.test.helpers import processes_context +from openpilot.common.params import Params + + +def run(args, **kwargs): + return subprocess.run(args, **kwargs, check=True) + + +def update_release(directory, name, version, release_notes): + with open(directory / "RELEASES.md", "w") as f: + f.write(release_notes) + + (directory / "common").mkdir(exist_ok=True) + + with open(directory / "common" / "version.h", "w") as f: + f.write(f'#define COMMA_VERSION "{version}"') + + run(["git", "add", "."], cwd=directory) + run(["git", "commit", "-m", f"openpilot release {version}"], cwd=directory) + + +@pytest.mark.slow # TODO: can we test overlayfs in GHA? +class TestUpdateD(unittest.TestCase): + def setUp(self): + self.tmpdir = tempfile.mkdtemp() + + run(["sudo", "mount", "-t", "tmpfs", "tmpfs", self.tmpdir]) # overlayfs doesn't work inside of docker unless this is a tmpfs + + self.mock_update_path = pathlib.Path(self.tmpdir) + + self.params = Params() + + self.basedir = self.mock_update_path / "openpilot" + self.basedir.mkdir() + + self.staging_root = self.mock_update_path / "safe_staging" + self.staging_root.mkdir() + + self.remote_dir = self.mock_update_path / "remote" + self.remote_dir.mkdir() + + mock.patch("openpilot.common.basedir.BASEDIR", self.basedir).start() + + os.environ["UPDATER_STAGING_ROOT"] = str(self.staging_root) + os.environ["UPDATER_LOCK_FILE"] = str(self.mock_update_path / "safe_staging_overlay.lock") + + self.MOCK_RELEASES = { + "release3": ("0.1.2", "0.1.2 release notes"), + "master": ("0.1.3", "0.1.3 release notes"), + } + + def set_target_branch(self, branch): + self.params.put("UpdaterTargetBranch", branch) + + def setup_basedir_release(self, release): + self.params = Params() + self.set_target_branch(release) + run(["git", "clone", "-b", release, self.remote_dir, self.basedir]) + + def update_remote_release(self, release): + update_release(self.remote_dir, release, *self.MOCK_RELEASES[release]) + + def setup_remote_release(self, release): + run(["git", "init"], cwd=self.remote_dir) + run(["git", "checkout", "-b", release], cwd=self.remote_dir) + self.update_remote_release(release) + + def tearDown(self): + mock.patch.stopall() + run(["sudo", "umount", "-l", str(self.staging_root / "merged")]) + run(["sudo", "umount", "-l", self.tmpdir]) + shutil.rmtree(self.tmpdir) + + def send_check_for_updates_signal(self, updated: ManagerProcess): + updated.signal(signal.SIGUSR1.value) + + def send_download_signal(self, updated: ManagerProcess): + updated.signal(signal.SIGHUP.value) + + def _test_params(self, branch, fetch_available, update_available): + self.assertEqual(self.params.get("UpdaterTargetBranch", encoding="utf-8"), branch) + self.assertEqual(self.params.get_bool("UpdaterFetchAvailable"), fetch_available) + self.assertEqual(self.params.get_bool("UpdateAvailable"), update_available) + + def _test_update_params(self, branch, version, release_notes): + self.assertTrue(self.params.get("UpdaterNewDescription", encoding="utf-8").startswith(f"{version} / {branch}")) + self.assertEqual(self.params.get("UpdaterNewReleaseNotes", encoding="utf-8"), f"

{release_notes}

\n") + + def wait_for_idle(self, timeout=5, min_wait_time=2): + start = time.monotonic() + time.sleep(min_wait_time) + + while True: + waited = time.monotonic() - start + if self.params.get("UpdaterState", encoding="utf-8") == "idle": + print(f"waited {waited}s for idle") + break + + if waited > timeout: + raise TimeoutError("timed out waiting for idle") + + time.sleep(1) + + def test_new_release(self): + # Start on release3, simulate a release3 commit, ensure we fetch that update properly + self.setup_remote_release("release3") + self.setup_basedir_release("release3") + + with processes_context(["updated"]) as [updated]: + self._test_params("release3", False, False) + time.sleep(1) + self._test_params("release3", False, False) + + self.MOCK_RELEASES["release3"] = ("0.1.3", "0.1.3 release notes") + self.update_remote_release("release3") + + self.send_check_for_updates_signal(updated) + + self.wait_for_idle() + + self._test_params("release3", True, False) + + self.send_download_signal(updated) + + self.wait_for_idle() + + self._test_params("release3", False, True) + self._test_update_params("release3", *self.MOCK_RELEASES["release3"]) + + def test_switch_branches(self): + # Start on release3, request to switch to master manually, ensure we switched + self.setup_remote_release("release3") + self.setup_remote_release("master") + self.setup_basedir_release("release3") + + with processes_context(["updated"]) as [updated]: + self._test_params("release3", False, False) + self.wait_for_idle() + self._test_params("release3", False, False) + + self.set_target_branch("master") + self.send_check_for_updates_signal(updated) + + self.wait_for_idle() + + self._test_params("master", True, False) + + self.send_download_signal(updated) + + self.wait_for_idle() + + self._test_params("master", False, True) + self._test_update_params("master", *self.MOCK_RELEASES["master"]) + + +if __name__ == "__main__": + unittest.main() From 78a46ce72499ce627c50ff95aa630602e71b8e39 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Mar 2024 15:47:44 -0800 Subject: [PATCH 83/94] car values formatting (#31747) values formatting --- selfdrive/car/body/values.py | 1 - selfdrive/car/chrysler/values.py | 1 - selfdrive/car/ford/values.py | 1 - selfdrive/car/gm/values.py | 1 - selfdrive/car/hyundai/values.py | 1 - selfdrive/car/mazda/values.py | 2 -- selfdrive/car/mock/values.py | 4 ---- selfdrive/car/nissan/values.py | 1 - selfdrive/car/subaru/values.py | 1 - selfdrive/car/tesla/values.py | 1 - selfdrive/car/toyota/values.py | 1 - selfdrive/car/values.py | 1 - selfdrive/car/volkswagen/values.py | 1 - 13 files changed, 17 deletions(-) diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py index 6e0d0ec596..46afa857aa 100644 --- a/selfdrive/car/body/values.py +++ b/selfdrive/car/body/values.py @@ -38,5 +38,4 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py index 905e2e7270..7dcfa3749e 100644 --- a/selfdrive/car/chrysler/values.py +++ b/selfdrive/car/chrysler/values.py @@ -163,5 +163,4 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py index 76f505fa9b..add40368be 100644 --- a/selfdrive/car/ford/values.py +++ b/selfdrive/car/ford/values.py @@ -209,5 +209,4 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py index 17822e0c80..5401963ee6 100644 --- a/selfdrive/car/gm/values.py +++ b/selfdrive/car/gm/values.py @@ -247,5 +247,4 @@ CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER} STEER_THRESHOLD = 1.0 - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 29a72ba715..1ed84d9187 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -847,7 +847,6 @@ LEGACY_SAFETY_MODE_CAR = CAR.with_flags(HyundaiFlags.LEGACY) UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL) - DBC = CAR.create_dbc_map() if __name__ == "__main__": diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py index 20a3ae0ae1..b55690f39a 100644 --- a/selfdrive/car/mazda/values.py +++ b/selfdrive/car/mazda/values.py @@ -107,6 +107,4 @@ FW_QUERY_CONFIG = FwQueryConfig( ], ) - - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py index 7e399fab73..ddab599a93 100644 --- a/selfdrive/car/mock/values.py +++ b/selfdrive/car/mock/values.py @@ -1,7 +1,6 @@ from openpilot.selfdrive.car import CarSpecs, PlatformConfig, Platforms - class CAR(Platforms): MOCK = PlatformConfig( 'mock', @@ -9,6 +8,3 @@ class CAR(Platforms): CarSpecs(mass=1700, wheelbase=2.7, steerRatio=13), {} ) - - - diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py index 8d33e0e705..c0ccb0febf 100644 --- a/selfdrive/car/nissan/values.py +++ b/selfdrive/car/nissan/values.py @@ -63,7 +63,6 @@ class CAR(Platforms): ) - DBC = CAR.create_dbc_map() # Default diagnostic session diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py index acb60628b4..cc963404b7 100644 --- a/selfdrive/car/subaru/values.py +++ b/selfdrive/car/subaru/values.py @@ -265,6 +265,5 @@ FW_QUERY_CONFIG = FwQueryConfig( DBC = CAR.create_dbc_map() - if __name__ == "__main__": CAR.print_debug(SubaruFlags) diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py index 43132970b0..ca3bb38a7a 100644 --- a/selfdrive/car/tesla/values.py +++ b/selfdrive/car/tesla/values.py @@ -98,5 +98,4 @@ class CarControllerParams: pass - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index 048e8b1033..d9dc8b5eba 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -608,5 +608,4 @@ ANGLE_CONTROL_CAR = CAR.with_flags(ToyotaFlags.ANGLE_CONTROL) # no resume button press required NO_STOP_TIMER_CAR = CAR.with_flags(ToyotaFlags.NO_STOP_TIMER) - DBC = CAR.create_dbc_map() diff --git a/selfdrive/car/values.py b/selfdrive/car/values.py index 24119e2210..0c8249838b 100644 --- a/selfdrive/car/values.py +++ b/selfdrive/car/values.py @@ -18,7 +18,6 @@ BRANDS = [BODY, CHRYSLER, FORD, GM, HONDA, HYUNDAI, MAZDA, MOCK, NISSAN, SUBARU, PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in cast(list[Platform], brand)} - MapFunc = Callable[[Platform], Any] diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py index 36c82abf03..a45ddf431f 100644 --- a/selfdrive/car/volkswagen/values.py +++ b/selfdrive/car/volkswagen/values.py @@ -416,5 +416,4 @@ FW_QUERY_CONFIG = FwQueryConfig( extra_ecus=[(Ecu.fwdCamera, 0x74f, None)], ) - DBC = CAR.create_dbc_map() From 84797482e909ce017385fb3510d564ee5b08045d Mon Sep 17 00:00:00 2001 From: Adeeb Shihadeh Date: Wed, 6 Mar 2024 16:19:08 -0800 Subject: [PATCH 84/94] encoderd: fix large frames (#31681) * encoderd: fix large frames * Update camera_common.cc * just do this for now --------- Co-authored-by: Comma Device --- system/camerad/cameras/camera_common.cc | 6 +++++- system/loggerd/encoder/v4l_encoder.cc | 7 ++++++- 2 files changed, 11 insertions(+), 2 deletions(-) diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc index 91c6d44f84..fff4a62d31 100644 --- a/system/camerad/cameras/camera_common.cc +++ b/system/camerad/cameras/camera_common.cc @@ -79,8 +79,12 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height); assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width)); assert(nv12_height/2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, rgb_height)); - size_t nv12_size = 2346 * nv12_width; // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage size_t nv12_uv_offset = nv12_width * nv12_height; + + // the encoder HW tells us the size it wants after setting it up. + // TODO: VENUS_BUFFER_SIZE should give the size, but it's too small. dependent on encoder settings? + size_t nv12_size = (rgb_width >= 2688 ? 2900 : 2346)*nv12_width; + vipc_server->create_buffers_with_sizes(stream_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset); LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height); diff --git a/system/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc index 2bd2863126..853a17abbe 100644 --- a/system/loggerd/encoder/v4l_encoder.cc +++ b/system/loggerd/encoder/v4l_encoder.cc @@ -16,7 +16,12 @@ #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000 -// echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level +/* + kernel debugging: + echo 0xff > /sys/module/videobuf2_core/parameters/debug + echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level + echo 0xff > /sys/devices/platform/soc/aa00000.qcom,vidc/video4linux/video33/dev_debug +*/ const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0; static void checked_ioctl(int fd, unsigned long request, void *argp) { From 997bb65e54badbb8d53ae940367a5d4146dc8e01 Mon Sep 17 00:00:00 2001 From: Clark934 Date: Wed, 6 Mar 2024 22:15:14 -0500 Subject: [PATCH 85/94] ruff: set tab size and quote style (#31749) --- pyproject.toml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/pyproject.toml b/pyproject.toml index 0f7734b3b3..8894d5eca2 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -171,6 +171,7 @@ build-backend = "poetry.core.masonry.api" # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml [tool.ruff] +indent-width = 2 lint.select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"] lint.ignore = ["E741", "E402", "C408", "ISC003", "B027", "B024"] line-length = 160 @@ -195,3 +196,5 @@ lint.flake8-implicit-str-concat.allow-multiline=false [tool.coverage.run] concurrency = ["multiprocessing", "thread"] +[tool.ruff.format] +quote-style = "preserve" From b4c8e0834d23e757d37b7157dc23eac3ed655bdf Mon Sep 17 00:00:00 2001 From: Michel Le Bihan Date: Thu, 7 Mar 2024 04:16:21 +0100 Subject: [PATCH 86/94] Simulator: Add world status reporting (#31740) --- tools/sim/bridge/common.py | 6 +++--- .../sim/bridge/metadrive/metadrive_bridge.py | 4 +++- tools/sim/bridge/metadrive/metadrive_world.py | 16 +++++++++++++-- tools/sim/lib/common.py | 2 +- tools/sim/scenarios/metadrive/stay_in_lane.py | 20 +++++++++++++------ 5 files changed, 35 insertions(+), 13 deletions(-) diff --git a/tools/sim/bridge/common.py b/tools/sim/bridge/common.py index 78ddfa5aa6..34d11bb98c 100644 --- a/tools/sim/bridge/common.py +++ b/tools/sim/bridge/common.py @@ -56,14 +56,14 @@ class SimulatorBridge(ABC): try: self._run(q) finally: - self.close() + self.close("bridge terminated") - def close(self): + def close(self, reason): self.started.value = False self._exit_event.set() if self.world is not None: - self.world.close() + self.world.close(reason) def run(self, queue, retries=-1): bridge_p = Process(name="bridge", target=self.bridge_keep_alive, args=(queue, retries)) diff --git a/tools/sim/bridge/metadrive/metadrive_bridge.py b/tools/sim/bridge/metadrive/metadrive_bridge.py index 3190cb81b9..c2ea92798a 100644 --- a/tools/sim/bridge/metadrive/metadrive_bridge.py +++ b/tools/sim/bridge/metadrive/metadrive_bridge.py @@ -1,3 +1,5 @@ +from multiprocessing import Queue + from metadrive.component.sensors.base_camera import _cuda_enable from metadrive.component.map.pg_map import MapGenerateMethod @@ -80,4 +82,4 @@ class MetaDriveBridge(SimulatorBridge): preload_models=False ) - return MetaDriveWorld(config, self.dual_camera) + return MetaDriveWorld(Queue(), config, self.dual_camera) diff --git a/tools/sim/bridge/metadrive/metadrive_world.py b/tools/sim/bridge/metadrive/metadrive_world.py index 312860593d..3570205069 100644 --- a/tools/sim/bridge/metadrive/metadrive_world.py +++ b/tools/sim/bridge/metadrive/metadrive_world.py @@ -12,8 +12,9 @@ from openpilot.tools.sim.lib.camerad import W, H class MetaDriveWorld(World): - def __init__(self, config, dual_camera = False): + def __init__(self, status_q, config, dual_camera = False): super().__init__(dual_camera) + self.status_q = status_q self.camera_array = Array(ctypes.c_uint8, W*H*3) self.road_image = np.frombuffer(self.camera_array.get_obj(), dtype=np.uint8).reshape((H, W, 3)) self.wide_camera_array = None @@ -34,12 +35,14 @@ class MetaDriveWorld(World): self.vehicle_state_send, self.exit_event)) self.metadrive_process.start() + self.status_q.put({"status": "starting"}) print("----------------------------------------------------------") print("---- Spawning Metadrive world, this might take awhile ----") print("----------------------------------------------------------") self.vehicle_state_recv.recv() # wait for a state message to ensure metadrive is launched + self.status_q.put({"status": "started"}) self.steer_ratio = 15 self.vc = [0.0,0.0] @@ -65,6 +68,11 @@ class MetaDriveWorld(World): while self.simulation_state_recv.poll(0): md_state: metadrive_simulation_state = self.simulation_state_recv.recv() if md_state.done: + self.status_q.put({ + "status": "terminating", + "reason": "done", + "done_info": md_state.done_info + }) self.exit_event.set() def read_sensors(self, state: SimulatorState): @@ -85,6 +93,10 @@ class MetaDriveWorld(World): def reset(self): self.should_reset = True - def close(self): + def close(self, reason: str): + self.status_q.put({ + "status": "terminating", + "reason": reason, + }) self.exit_event.set() self.metadrive_process.join() diff --git a/tools/sim/lib/common.py b/tools/sim/lib/common.py index 76224c61de..168b3aa324 100644 --- a/tools/sim/lib/common.py +++ b/tools/sim/lib/common.py @@ -92,7 +92,7 @@ class World(ABC): pass @abstractmethod - def close(self): + def close(self, reason: str): pass @abstractmethod diff --git a/tools/sim/scenarios/metadrive/stay_in_lane.py b/tools/sim/scenarios/metadrive/stay_in_lane.py index 55fb2cb9bd..6d5f680247 100755 --- a/tools/sim/scenarios/metadrive/stay_in_lane.py +++ b/tools/sim/scenarios/metadrive/stay_in_lane.py @@ -1,6 +1,5 @@ #!/usr/bin/env python -from typing import Any from multiprocessing import Queue from metadrive.component.sensors.base_camera import _cuda_enable @@ -38,7 +37,8 @@ def create_map(): class MetaDriveBridge(SimulatorBridge): TICKS_PER_FRAME = 5 - def __init__(self, dual_camera, high_quality): + def __init__(self, world_status_q, dual_camera, high_quality): + self.world_status_q = world_status_q self.should_render = False super().__init__(dual_camera, high_quality) @@ -72,11 +72,19 @@ class MetaDriveBridge(SimulatorBridge): preload_models=False ) - return MetaDriveWorld(config, self.dual_camera) + return MetaDriveWorld(world_status_q, config, self.dual_camera) if __name__ == "__main__": - queue: Any = Queue() - simulator_bridge = MetaDriveBridge(True, False) - simulator_process = simulator_bridge.run(queue) + command_queue: Queue = Queue() + world_status_q: Queue = Queue() + simulator_bridge = MetaDriveBridge(world_status_q, True, False) + simulator_process = simulator_bridge.run(command_queue) + + while True: + world_status = world_status_q.get() + print(f"World Status: {str(world_status)}") + if world_status["status"] == "terminating": + break + simulator_process.join() From 28b4e9962d907533a367a855d25391a7c08304f1 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Wed, 6 Mar 2024 23:39:11 -0800 Subject: [PATCH 87/94] Hyundai Palisade: allow fingerprinting without comma power (#31752) * Palisade gets camera, radar, eps * Add versions from d23a555519923793 * add FW from 0af43ba62cc3ffc4 * remove CAN fingerprints! --- selfdrive/car/hyundai/fingerprints.py | 7 ++++--- selfdrive/car/hyundai/values.py | 6 +++--- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index fa5296cfa7..1f8fd98939 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -74,9 +74,6 @@ FINGERPRINTS = { { 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 576: 8, 593: 8, 688: 5, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 909: 8, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1168: 7, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1265: 4, 1268: 8, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1371: 8, 1407: 8, 1419: 8, 1420: 8, 1425: 2, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1476: 8, 1535: 8 }], - CAR.PALISADE: [{ - 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 547: 8, 548: 8, 549: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1123: 8, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1180: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1384: 8, 1407: 8, 1419: 8, 1427: 6, 1456: 4, 1470: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8 - }], } FW_VERSIONS = { @@ -727,6 +724,7 @@ FW_VERSIONS = { (Ecu.abs, 0x7d1, None): [ b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360', b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360', + b'\xf1\x00LX ESC \x01 104 \x10\x16 58910-S8360', b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330', b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330', b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330', @@ -748,10 +746,12 @@ FW_VERSIONS = { b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8000 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103', b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104', + b'\xf1\x00LX2 MDPS R 1.00 1.02 56370-S8300 9318', b'\xf1\x00ON MDPS C 1.00 1.00 56340-S9000 8B13', b'\xf1\x00ON MDPS C 1.00 1.01 56340-S9000 9201', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00LX2 MFC AT KOR LHD 1.00 1.08 99211-S8100 200903', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.00 99211-S8110 210226', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.03 99211-S8100 190125', b'\xf1\x00LX2 MFC AT USA LHD 1.00 1.05 99211-S8100 190909', @@ -765,6 +765,7 @@ FW_VERSIONS = { b'\xf1\x00bcsh8p54 U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28', b'\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08', b'\xf1\x00bcsh8p54 U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6', + b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00SLX2G38NB5X\xfa\xe88', b'\xf1\x00bcsh8p54 U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde', b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1', b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8", diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 1ed84d9187..13321b4573 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -804,9 +804,9 @@ FW_QUERY_CONFIG = FwQueryConfig( # We lose these ECUs without the comma power on these cars. # Note that we still attempt to match with them when they are present non_essential_ecus={ - Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.SONATA], - Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.SONATA], - Ecu.abs: [CAR.SONATA], + Ecu.transmission: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA], + Ecu.engine: [CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.PALISADE, CAR.SONATA], + Ecu.abs: [CAR.PALISADE, CAR.SONATA], }, extra_ecus=[ (Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms From 2a29778ae2c7af26cfc014d04dadf15b1c0a5c66 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Mar 2024 00:14:56 -0800 Subject: [PATCH 88/94] HKG: test platform codes per platform (#31753) * test * clean up --- selfdrive/car/hyundai/tests/test_hyundai.py | 17 +++++++++++++++++ 1 file changed, 17 insertions(+) diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py index c7100d03f0..61b11a1992 100755 --- a/selfdrive/car/hyundai/tests/test_hyundai.py +++ b/selfdrive/car/hyundai/tests/test_hyundai.py @@ -98,6 +98,23 @@ class TestHyundaiFingerprint(unittest.TestCase): fws = data.draw(fw_strategy) get_platform_codes(fws) + def test_expected_platform_codes(self): + # Ensures we don't accidentally add multiple platform codes for a car unless it is intentional + for car_model, ecus in FW_VERSIONS.items(): + with self.subTest(car_model=car_model.value): + for ecu, fws in ecus.items(): + if ecu[0] not in PLATFORM_CODE_ECUS: + continue + + # Third and fourth character are usually EV/hybrid identifiers + codes = {code.split(b"-")[0][:2] for code, _ in get_platform_codes(fws)} + if car_model == CAR.PALISADE: + self.assertEqual(codes, {b"LX", b"ON"}, f"Car has unexpected platform codes: {car_model} {codes}") + elif car_model == CAR.KONA_EV and ecu[0] == Ecu.fwdCamera: + self.assertEqual(codes, {b"OE", b"OS"}, f"Car has unexpected platform codes: {car_model} {codes}") + else: + self.assertEqual(len(codes), 1, f"Car has multiple platform codes: {car_model} {codes}") + # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy # fingerprint in the absence of full FW matches: def test_platform_code_ecus_available(self): From 4624bb3d7cf30db4fc8d1a68aa0cf21e1ad9ff0c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Mar 2024 00:24:50 -0800 Subject: [PATCH 89/94] Sonata LF: remove CAN fingerprint (#31754) add FW from 7ae1c131629d96e5 --- selfdrive/car/hyundai/fingerprints.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 1f8fd98939..85cb81aa5f 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -32,9 +32,6 @@ FINGERPRINTS = { CAR.SONATA: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 }], - CAR.SONATA_LF: [{ - 66: 8, 67: 8, 68: 8, 127: 8, 273: 8, 274: 8, 275: 8, 339: 8, 356: 4, 399: 8, 447: 8, 512: 6, 544: 8, 593: 8, 608: 8, 688: 5, 790: 8, 809: 8, 832: 8, 884: 8, 897: 8, 899: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1151: 6, 1168: 7, 1170: 8, 1253: 8, 1254: 8, 1255: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1314: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1349: 8, 1351: 8, 1353: 8, 1363: 8, 1365: 8, 1366: 8, 1367: 8, 1369: 8, 1397: 8, 1407: 8, 1415: 8, 1419: 8, 1425: 2, 1427: 6, 1440: 8, 1456: 4, 1470: 8, 1472: 8, 1486: 8, 1487: 8, 1491: 8, 1530: 8, 1532: 5, 2000: 8, 2001: 8, 2004: 8, 2005: 8, 2008: 8, 2009: 8, 2012: 8, 2013: 8, 2014: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8 - }], CAR.KIA_SORENTO: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 }], @@ -412,6 +409,7 @@ FW_VERSIONS = { b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i', b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', From 9f7c577564ba7f267a1e4d94c3d61ef41149b04c Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Mar 2024 00:53:31 -0800 Subject: [PATCH 90/94] Hyundai Ioniq Hybrid 2017: remove CAN fingerprints fixing mismatch (#31755) * Run bot on 0e13ee2b821302f4 * remove IONIQ CAN fingerprints and move to Niro PHEV (part numbers match!) * remove dups * best guess is Hyundai C (IONIQ is also) --- docs/CARS.md | 3 ++- selfdrive/car/hyundai/fingerprints.py | 8 ++++---- selfdrive/car/hyundai/values.py | 1 + 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/docs/CARS.md b/docs/CARS.md index 654f788908..591a76e4cb 100644 --- a/docs/CARS.md +++ b/docs/CARS.md @@ -4,7 +4,7 @@ A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified. -# 288 Supported Cars +# 289 Supported Cars |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Hardware Needed
 |Video| |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:| @@ -143,6 +143,7 @@ A supported vehicle is one that just works when you install a comma device. All |Kia|Niro EV 2021|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2022|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai H connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro EV 2023[6](#footnotes)|All|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| +|Kia|Niro Hybrid 2018|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai C connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai D connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai F connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| |Kia|Niro Hybrid 2023[6](#footnotes)|Smart Cruise Control (SCC)|openpilot available[1](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
Parts- 1 Hyundai A connector
- 1 RJ45 cable (7 ft)
- 1 comma 3X
- 1 comma power v2
- 1 harness box
- 1 mount
- 1 right angle OBD-C cable (1.5 ft)
Buy Here
|| diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 85cb81aa5f..5a7cfea5a5 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -53,9 +53,6 @@ FINGERPRINTS = { CAR.IONIQ_EV_2020: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 7, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 }], - CAR.IONIQ: [{ - 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 524: 8, 544: 8, 576: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 6, 1151: 6, 1155: 8, 1156: 8, 1157: 4, 1164: 8, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1448: 8, 1456: 4, 1470: 8, 1473: 8, 1476: 8, 1507: 8, 1535: 8, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2005: 8, 2008: 8, 2012: 8, 2013: 8 - }], CAR.KONA_EV: [{ 127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8 }], @@ -409,8 +406,8 @@ FW_VERSIONS = { b'\xf1\x00LFF LKAS AT USA LHD 1.01 1.02 95740-C1000 E52', ], (Ecu.transmission, 0x7e1, None): [ - b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i', b'\xf1\x006T6H0_C2\x00\x006T6B4051\x00\x00TLF0G24NL1\xb0\x9f\xee\xf5', + b'\xf1\x006T6H0_C2\x00\x006T6B7051\x00\x00TLF0G24SL4;\x08\x12i', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2\x00\x00\x00\x00', b'\xf1\x87LAHSGN012918KF10\x98\x88x\x87\x88\x88x\x87\x88\x88\x98\x88\x87w\x88w\x88\x88\x98\x886o\xf6\xff\x98w\x7f\xff3\x00\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', b'\xf1\x87LAJSG49645724HF0\x87x\x87\x88\x87www\x88\x99\xa8\x89\x88\x99\xa8\x89\x88\x99\xa8\x89S_\xfb\xff\x87f\x7f\xff^2\xf1\x816W3B1051\x00\x00\xf1\x006W351_C2\x00\x006W3B1051\x00\x00TLF0T20NL2H\r\xbdm', @@ -1179,11 +1176,13 @@ FW_VERSIONS = { }, CAR.KIA_NIRO_PHEV: { (Ecu.engine, 0x7e0, None): [ + b'\xf1\x816H6D0051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00', b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x006U3H0_C2\x00\x006U3G0051\x00\x00HDE0G16NS2\x00\x00\x00\x00', b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01', b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00', b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92', @@ -1195,6 +1194,7 @@ FW_VERSIONS = { b'\xf1\x00DE MDPS C 1.00 1.09 56310G5301\x00 4DEHC109', ], (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00DEH MFC AT USA LHD 1.00 1.00 95740-G5010 170117', b'\xf1\x00DEP MFC AT USA LHD 1.00 1.00 95740-G5010 170117', b'\xf1\x00DEP MFC AT USA LHD 1.00 1.01 95740-G5010 170424', b'\xf1\x00DEP MFC AT USA LHD 1.00 1.05 99211-G5000 190826', diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py index 13321b4573..199e0bba4d 100644 --- a/selfdrive/car/hyundai/values.py +++ b/selfdrive/car/hyundai/values.py @@ -418,6 +418,7 @@ class CAR(Platforms): KIA_NIRO_PHEV = HyundaiPlatformConfig( "KIA NIRO HYBRID 2019", [ + HyundaiCarInfo("Kia Niro Hybrid 2018", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])), HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])), ], From 66680515a79a29feb27d7dc3780232478ccd1ad8 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Mar 2024 01:09:08 -0800 Subject: [PATCH 91/94] Hyundai Genesis: remove CAN fingerprints (#31757) We already have the FW from 1bc85e3b0b53e1ad, 1b85fa0a357240ac, and cb5df08e7b5d0633 --- selfdrive/car/hyundai/fingerprints.py | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 5a7cfea5a5..1bed722537 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -5,21 +5,6 @@ from openpilot.selfdrive.car.hyundai.values import CAR Ecu = car.CarParams.Ecu FINGERPRINTS = { - CAR.HYUNDAI_GENESIS: [{ - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1342: 6, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1024: 2, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 912: 7, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1268: 8, 1280: 1, 1281: 3, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1427: 6, 1434: 2, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1378: 4, 1379: 8, 1384: 5, 1407: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }, - { - 67: 8, 68: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 7, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 5, 897: 8, 902: 8, 903: 6, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1287: 4, 1292: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1334: 8, 1335: 8, 1345: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 5, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4 - }], CAR.SANTA_FE: [{ 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1155: 8, 1156: 8, 1162: 8, 1164: 8, 1168: 7, 1170: 8, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1379: 8, 1384: 8, 1407: 8, 1414: 3, 1419: 8, 1427: 6, 1456: 4, 1470: 8 }, From 2e0a4a8574c1d576b898b677b441f1014d536687 Mon Sep 17 00:00:00 2001 From: Shane Smiskol Date: Thu, 7 Mar 2024 01:23:05 -0800 Subject: [PATCH 92/94] Hyundai: remove Sorento and G80 CAN fingerprints (#31758) * Add FW * rm can fp --- selfdrive/car/hyundai/fingerprints.py | 18 ++++++------------ 1 file changed, 6 insertions(+), 12 deletions(-) diff --git a/selfdrive/car/hyundai/fingerprints.py b/selfdrive/car/hyundai/fingerprints.py index 1bed722537..6349318fbf 100644 --- a/selfdrive/car/hyundai/fingerprints.py +++ b/selfdrive/car/hyundai/fingerprints.py @@ -17,21 +17,9 @@ FINGERPRINTS = { CAR.SONATA: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 546: 8, 549: 8, 550: 8, 576: 8, 593: 8, 608: 8, 688: 6, 809: 8, 832: 8, 854: 8, 865: 8, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 905: 8, 908: 8, 909: 8, 912: 7, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1089: 5, 1096: 8, 1107: 5, 1108: 8, 1114: 8, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1170: 8, 1173: 8, 1180: 8, 1183: 8, 1184: 8, 1186: 2, 1191: 2, 1193: 8, 1210: 8, 1225: 8, 1227: 8, 1265: 4, 1268: 8, 1280: 8, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1330: 8, 1339: 8, 1342: 6, 1343: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 8, 1379: 8, 1384: 8, 1394: 8, 1407: 8, 1419: 8, 1427: 6, 1446: 8, 1456: 4, 1460: 8, 1470: 8, 1485: 8, 1504: 3, 1988: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8 }], - CAR.KIA_SORENTO: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1331: 8, 1332: 8, 1333: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1384: 8, 1407: 8, 1411: 8, 1419: 8, 1425: 2, 1427: 6, 1444: 8, 1456: 4, 1470: 8, 1489: 1 - }], CAR.KIA_STINGER: [{ 67: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 576: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 4, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1379: 8, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1456: 4, 1470: 8 }], - CAR.GENESIS_G80: [{ - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1024: 2, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1191: 2, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 546: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1437: 8, 1456: 4, 1470: 8 - }, - { - 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 832: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1064: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1162: 8, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1193: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1437: 8, 1456: 4, 1470: 8 - }], CAR.GENESIS_G90: [{ 67: 8, 68: 8, 127: 8, 304: 8, 320: 8, 339: 8, 356: 4, 358: 6, 359: 8, 544: 8, 593: 8, 608: 8, 688: 5, 809: 8, 854: 7, 870: 7, 871: 8, 872: 8, 897: 8, 902: 8, 903: 8, 916: 8, 1040: 8, 1056: 8, 1057: 8, 1078: 4, 1107: 5, 1136: 8, 1151: 6, 1162: 4, 1168: 7, 1170: 8, 1173: 8, 1184: 8, 1265: 4, 1280: 1, 1281: 3, 1287: 4, 1290: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1345: 8, 1348: 8, 1363: 8, 1369: 8, 1370: 8, 1371: 8, 1378: 4, 1384: 8, 1407: 8, 1419: 8, 1425: 2, 1427: 6, 1434: 2, 1456: 4, 1470: 8, 1988: 8, 2000: 8, 2003: 8, 2004: 8, 2005: 8, 2008: 8, 2011: 8, 2012: 8, 2013: 8 }], @@ -874,6 +862,7 @@ FW_VERSIONS = { CAR.GENESIS_G80: { (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00DH__ SCC F-CUP 1.00 1.01 96400-B1120 ', + b'\xf1\x00DH__ SCC F-CUP 1.00 1.02 96400-B1120 ', b'\xf1\x00DH__ SCC FHCUP 1.00 1.01 96400-B1110 ', ], (Ecu.fwdCamera, 0x7c4, None): [ @@ -881,10 +870,12 @@ FW_VERSIONS = { b'\xf1\x00DH LKAS AT USA LHD 1.01 1.01 95895-B1500 161014', b'\xf1\x00DH LKAS AT USA LHD 1.01 1.02 95895-B1500 170810', b'\xf1\x00DH LKAS AT USA LHD 1.01 1.03 95895-B1500 180713', + b'\xf1\x00DH LKAS AT USA LHD 1.01 1.04 95895-B1500 181213', ], (Ecu.transmission, 0x7e1, None): [ b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G33KH2\xae\xde\xd5!', b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c', + b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH3\xaf\x1a7\xe2', b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8', b'\xf1\x00bcsh8p54 E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n', b'\xf1\x00bcsh8p54 E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9', @@ -1503,15 +1494,18 @@ FW_VERSIONS = { }, CAR.KIA_SORENTO: { (Ecu.fwdCamera, 0x7c4, None): [ + b'\xf1\x00UMP LKAS AT USA LHD 1.00 1.00 95740-C6550 d00', b'\xf1\x00UMP LKAS AT USA LHD 1.01 1.01 95740-C6550 d01', ], (Ecu.abs, 0x7d1, None): [ + b'\xf1\x00UM ESC \x02 12 \x18\x05\x05 58910-C6300', b'\xf1\x00UM ESC \x0c 12 \x18\x05\x06 58910-C6330', ], (Ecu.fwdRadar, 0x7d0, None): [ b'\xf1\x00UM__ SCC F-CUP 1.00 1.00 96400-C6500 ', ], (Ecu.transmission, 0x7e1, None): [ + b'\xf1\x00bcsh8p54 U834\x00\x00\x00\x00\x00\x00TUM2G33NL7K\xae\xdd\x1d', b'\xf1\x87LDKUAA0348164HE3\x87www\x87www\x88\x88\xa8\x88w\x88\x97xw\x88\x97x\x86o\xf8\xff\x87f\x7f\xff\x15\xe0\xf1\x81U811\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 U811\x00\x00\x00\x00\x00\x00TUM4G33NL3V|DG', ], (Ecu.engine, 0x7e0, None): [ From 98a491b1f2f20f6ece847f4ad57369bc429b7e93 Mon Sep 17 00:00:00 2001 From: Cameron Clough Date: Thu, 7 Mar 2024 09:54:33 +0000 Subject: [PATCH 93/94] Ford: parse distance button (#31733) Ford: parse ACC gap toggle button Use the ACC gap toggle button signal from the SCCM. There are two other signals for "increase" and "decrease" gap buttons, but no supported car has these buttons. --- selfdrive/car/ford/carstate.py | 5 +++++ selfdrive/car/ford/interface.py | 5 ++++- 2 files changed, 9 insertions(+), 1 deletion(-) diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py index 039e245754..b3ee6a4649 100644 --- a/selfdrive/car/ford/carstate.py +++ b/selfdrive/car/ford/carstate.py @@ -19,6 +19,9 @@ class CarState(CarStateBase): self.vehicle_sensors_valid = False + self.prev_distance_button = 0 + self.distance_button = 0 + def update(self, cp, cp_cam): ret = car.CarState.new_message() @@ -83,6 +86,8 @@ class CarState(CarStateBase): ret.rightBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 2 # TODO: block this going to the camera otherwise it will enable stock TJA ret.genericToggle = bool(cp.vl["Steering_Data_FD1"]["TjaButtnOnOffPress"]) + self.prev_distance_button = self.distance_button + self.distance_button = cp.vl["Steering_Data_FD1"]["AccButtnGapTogglePress"] # lock info ret.doorOpen = any([cp.vl["BodyInfo_3_FD1"]["DrStatDrv_B_Actl"], cp.vl["BodyInfo_3_FD1"]["DrStatPsngr_B_Actl"], diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py index a79b4af2e0..ed8b010491 100644 --- a/selfdrive/car/ford/interface.py +++ b/selfdrive/car/ford/interface.py @@ -1,11 +1,12 @@ from cereal import car from panda import Panda from openpilot.common.conversions import Conversions as CV -from openpilot.selfdrive.car import get_safety_config +from openpilot.selfdrive.car import create_button_events, get_safety_config from openpilot.selfdrive.car.ford.fordcan import CanBus from openpilot.selfdrive.car.ford.values import Ecu, FordFlags from openpilot.selfdrive.car.interfaces import CarInterfaceBase +ButtonType = car.CarState.ButtonEvent.Type TransmissionType = car.CarParams.TransmissionType GearShifter = car.CarState.GearShifter @@ -61,6 +62,8 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) + ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) + events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic]) if not self.CS.vehicle_sensors_valid: events.add(car.CarEvent.EventName.vehicleSensorsInvalid) From c4ef17ac28fdd2130fb8b9f4463575904739f394 Mon Sep 17 00:00:00 2001 From: Alexandre Nobuharu Sato <66435071+AlexandreSato@users.noreply.github.com> Date: Thu, 7 Mar 2024 07:03:39 -0300 Subject: [PATCH 94/94] Toyota TSS-P: parse distance button from SDSU (#31741) * Toyota TSS-P: parse distance button from SDSU * it's 1000hz wtf... da99509bd910288a/2024-03-04--13-51-30 * add events for SDSU * need to check for CAN filter * clena up * check * whoops --------- Co-authored-by: Shane Smiskol --- selfdrive/car/toyota/carstate.py | 10 +++++++++- selfdrive/car/toyota/interface.py | 5 ++++- selfdrive/car/toyota/values.py | 1 + 3 files changed, 14 insertions(+), 2 deletions(-) diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py index caaf7c2e17..166f6735a0 100644 --- a/selfdrive/car/toyota/carstate.py +++ b/selfdrive/car/toyota/carstate.py @@ -167,10 +167,13 @@ class CarState(CarStateBase): self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"]) # distance button is wired to the ACC module (camera or radar) + self.prev_distance_button = self.distance_button if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): - self.prev_distance_button = self.distance_button self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"] + elif self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER: + self.distance_button = cp.vl["SDSU"]["FD_BUTTON"] + return ret @staticmethod @@ -221,6 +224,11 @@ class CarState(CarStateBase): ("PRE_COLLISION", 33), ] + if CP.flags & ToyotaFlags.SMART_DSU and not CP.flags & ToyotaFlags.RADAR_CAN_FILTER: + messages += [ + ("SDSU", 100), + ] + return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0) @staticmethod diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py index bd982728a5..7ad9feed3d 100644 --- a/selfdrive/car/toyota/interface.py +++ b/selfdrive/car/toyota/interface.py @@ -49,6 +49,9 @@ class CarInterface(CarInterfaceBase): if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR): ret.flags |= ToyotaFlags.SMART_DSU.value + if 0x2AA in fingerprint[0] and candidate in NO_DSU_CAR: + ret.flags |= ToyotaFlags.RADAR_CAN_FILTER.value + # In TSS2 cars, the camera does long control found_ecus = [fw.ecu for fw in car_fw] ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \ @@ -173,7 +176,7 @@ class CarInterface(CarInterfaceBase): def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam) - if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR): + if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) or (self.CP.flags & ToyotaFlags.SMART_DSU and not self.CP.flags & ToyotaFlags.RADAR_CAN_FILTER): ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise}) # events diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py index d9dc8b5eba..2be7ca1865 100644 --- a/selfdrive/car/toyota/values.py +++ b/selfdrive/car/toyota/values.py @@ -46,6 +46,7 @@ class ToyotaFlags(IntFlag): HYBRID = 1 SMART_DSU = 2 DISABLE_RADAR = 4 + RADAR_CAN_FILTER = 1024 # Static flags TSS2 = 8