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get_can_parser and get_cam_can_parser are now standard static methods (#1136)

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pull/1138/head
rbiasini 5 years ago committed by GitHub
parent 5bf81617bd
commit dc3ea9b08d
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19 changed files with 543 additions and 552 deletions
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  1. 8
      selfdrive/car/car_helpers.py
  2. 111
      selfdrive/car/chrysler/carstate.py
  3. 5
      selfdrive/car/chrysler/interface.py
  4. 48
      selfdrive/car/ford/carstate.py
  5. 3
      selfdrive/car/ford/interface.py
  6. 84
      selfdrive/car/gm/carstate.py
  7. 7
      selfdrive/car/gm/interface.py
  8. 63
      selfdrive/car/honda/carstate.py
  9. 5
      selfdrive/car/honda/interface.py
  10. 236
      selfdrive/car/hyundai/carstate.py
  11. 5
      selfdrive/car/hyundai/interface.py
  12. 11
      selfdrive/car/interfaces.py
  13. 2
      selfdrive/car/mock/interface.py
  14. 155
      selfdrive/car/subaru/carstate.py
  15. 7
      selfdrive/car/subaru/interface.py
  16. 152
      selfdrive/car/toyota/carstate.py
  17. 3
      selfdrive/car/toyota/interface.py
  18. 185
      selfdrive/car/volkswagen/carstate.py
  19. 5
      selfdrive/car/volkswagen/interface.py

8
selfdrive/car/car_helpers.py
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@ -29,10 +29,12 @@ def load_interfaces(brand_names):
CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carcontroller.py'):
CarController = __import__(path + '.carcontroller', fromlist=['CarController']).CarController
CarState = __import__(path + '.carstate', fromlist=['CarState']).CarState
else:
CarController = None
CarState = None
for model_name in brand_names[brand_name]:
ret[model_name] = (CarInterface, CarController)
ret[model_name] = (CarInterface, CarController, CarState)
return ret
@ -149,10 +151,10 @@ def get_car(logcan, sendcan, has_relay=False):
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
candidate = "mock"
CarInterface, CarController = interfaces[candidate]
CarInterface, CarController, CarState = interfaces[candidate]
car_params = CarInterface.get_params(candidate, fingerprints, has_relay, car_fw)
car_params.carVin = vin
car_params.carFw = car_fw
car_params.fingerprintSource = source
return CarInterface(car_params, CarController), car_params
return CarInterface(car_params, CarController, CarState), car_params

111
selfdrive/car/chrysler/carstate.py
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@ -5,62 +5,6 @@ from selfdrive.config import Conversions as CV
from selfdrive.car.interfaces import CarStateBase
from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("PRNDL", "GEAR", 0),
("DOOR_OPEN_FL", "DOORS", 0),
("DOOR_OPEN_FR", "DOORS", 0),
("DOOR_OPEN_RL", "DOORS", 0),
("DOOR_OPEN_RR", "DOORS", 0),
("BRAKE_PRESSED_2", "BRAKE_2", 0),
("ACCEL_134", "ACCEL_GAS_134", 0),
("SPEED_LEFT", "SPEED_1", 0),
("SPEED_RIGHT", "SPEED_1", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING", 0),
("STEERING_RATE", "STEERING", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 0),
("ACC_STATUS_2", "ACC_2", 0),
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
("TORQUE_DRIVER", "EPS_STATUS", 0),
("TORQUE_MOTOR", "EPS_STATUS", 0),
("LKAS_STATE", "EPS_STATUS", 1),
("COUNTER", "EPS_STATUS", -1),
("TRACTION_OFF", "TRACTION_BUTTON", 0),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
]
# It's considered invalid if it is not received for 10x the expected period (1/f).
checks = [
# sig_address, frequency
("BRAKE_2", 50),
("EPS_STATUS", 100),
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
("ACC_2", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
# TODO read in all the other values
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
class CarState(CarStateBase):
def __init__(self, CP):
@ -119,3 +63,58 @@ class CarState(CarStateBase):
self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]['LKAS_STATUS_OK']
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("PRNDL", "GEAR", 0),
("DOOR_OPEN_FL", "DOORS", 0),
("DOOR_OPEN_FR", "DOORS", 0),
("DOOR_OPEN_RL", "DOORS", 0),
("DOOR_OPEN_RR", "DOORS", 0),
("BRAKE_PRESSED_2", "BRAKE_2", 0),
("ACCEL_134", "ACCEL_GAS_134", 0),
("SPEED_LEFT", "SPEED_1", 0),
("SPEED_RIGHT", "SPEED_1", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("STEER_ANGLE", "STEERING", 0),
("STEERING_RATE", "STEERING", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 0),
("ACC_STATUS_2", "ACC_2", 0),
("HIGH_BEAM_FLASH", "STEERING_LEVERS", 0),
("ACC_SPEED_CONFIG_KPH", "DASHBOARD", 0),
("TORQUE_DRIVER", "EPS_STATUS", 0),
("TORQUE_MOTOR", "EPS_STATUS", 0),
("LKAS_STATE", "EPS_STATUS", 1),
("COUNTER", "EPS_STATUS", -1),
("TRACTION_OFF", "TRACTION_BUTTON", 0),
("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS", 0),
]
checks = [
# sig_address, frequency
("BRAKE_2", 50),
("EPS_STATUS", 100),
("SPEED_1", 100),
("WHEEL_SPEEDS", 50),
("STEERING", 100),
("ACC_2", 50),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("COUNTER", "LKAS_COMMAND", -1),
("CAR_MODEL", "LKAS_HUD", -1),
("LKAS_STATUS_OK", "LKAS_HEARTBIT", -1)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

5
selfdrive/car/chrysler/interface.py
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@ -2,7 +2,6 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.car.chrysler.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.chrysler.values import Ecu, ECU_FINGERPRINT, CAR, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -11,8 +10,8 @@ GearShifter = car.CarState.GearShifter
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.low_speed_alert = False

48
selfdrive/car/ford/carstate.py
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@ -7,32 +7,6 @@ from selfdrive.car.ford.values import DBC
WHEEL_RADIUS = 0.33
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
("Cruise_State", "Cruise_Status", 0.),
("Set_Speed", "Cruise_Status", 0.),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
("Dist_Incr", "Steering_Buttons", 0.),
("Brake_Drv_Appl", "Cruise_Status", 0.),
("Brake_Lights", "BCM_to_HS_Body", 0.),
]
checks = [
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
class CarState(CarStateBase):
def update(self, cp):
ret = car.CarState.new_message()
@ -58,3 +32,25 @@ class CarState(CarStateBase):
self.steer_error = cp.vl["Lane_Keep_Assist_Status"]['LaActDeny_B_Actl']
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WhlRr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlRl_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFr_W_Meas", "WheelSpeed_CG1", 0.),
("WhlFl_W_Meas", "WheelSpeed_CG1", 0.),
("SteWhlRelInit_An_Sns", "Steering_Wheel_Data_CG1", 0.),
("Cruise_State", "Cruise_Status", 0.),
("Set_Speed", "Cruise_Status", 0.),
("LaActAvail_D_Actl", "Lane_Keep_Assist_Status", 0),
("LaHandsOff_B_Actl", "Lane_Keep_Assist_Status", 0),
("LaActDeny_B_Actl", "Lane_Keep_Assist_Status", 0),
("ApedPosScal_Pc_Actl", "EngineData_14", 0.),
("Dist_Incr", "Steering_Buttons", 0.),
("Brake_Drv_Appl", "Cruise_Status", 0.),
("Brake_Lights", "BCM_to_HS_Body", 0.),
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)

3
selfdrive/car/ford/interface.py
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@ -3,15 +3,12 @@ from cereal import car
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.car.ford.carstate import CarState, get_can_parser
from selfdrive.car.ford.values import MAX_ANGLE, Ecu, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_can_parser)
@staticmethod
def compute_gb(accel, speed):

84
selfdrive/car/gm/carstate.py
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@ -8,47 +8,6 @@ from selfdrive.car.gm.values import DBC, CAR, AccState, CanBus, \
CruiseButtons, is_eps_status_ok, \
STEER_THRESHOLD, SUPERCRUISE_CARS
def get_powertrain_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
("FrontLeftDoor", "BCMDoorBeltStatus", 0),
("FrontRightDoor", "BCMDoorBeltStatus", 0),
("RearLeftDoor", "BCMDoorBeltStatus", 0),
("RearRightDoor", "BCMDoorBeltStatus", 0),
("LeftSeatBelt", "BCMDoorBeltStatus", 0),
("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal", "AcceleratorPedal", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
("RRWheelSpd", "EBCMWheelSpdRear", 0),
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
]
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in SUPERCRUISE_CARS:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
else:
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)
class CarState(CarStateBase):
@ -123,3 +82,46 @@ class CarState(CarStateBase):
self.steer_not_allowed = not is_eps_status_ok(self.lkas_status, self.car_fingerprint)
return ret
@staticmethod
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("BrakePedalPosition", "EBCMBrakePedalPosition", 0),
("FrontLeftDoor", "BCMDoorBeltStatus", 0),
("FrontRightDoor", "BCMDoorBeltStatus", 0),
("RearLeftDoor", "BCMDoorBeltStatus", 0),
("RearRightDoor", "BCMDoorBeltStatus", 0),
("LeftSeatBelt", "BCMDoorBeltStatus", 0),
("RightSeatBelt", "BCMDoorBeltStatus", 0),
("TurnSignals", "BCMTurnSignals", 0),
("AcceleratorPedal", "AcceleratorPedal", 0),
("ACCButtons", "ASCMSteeringButton", CruiseButtons.UNPRESS),
("SteeringWheelAngle", "PSCMSteeringAngle", 0),
("FLWheelSpd", "EBCMWheelSpdFront", 0),
("FRWheelSpd", "EBCMWheelSpdFront", 0),
("RLWheelSpd", "EBCMWheelSpdRear", 0),
("RRWheelSpd", "EBCMWheelSpdRear", 0),
("PRNDL", "ECMPRDNL", 0),
("LKADriverAppldTrq", "PSCMStatus", 0),
("LKATorqueDeliveredStatus", "PSCMStatus", 0),
]
if CP.carFingerprint == CAR.VOLT:
signals += [
("RegenPaddle", "EBCMRegenPaddle", 0),
]
if CP.carFingerprint in SUPERCRUISE_CARS:
signals += [
("ACCCmdActive", "ASCMActiveCruiseControlStatus", 0)
]
else:
signals += [
("TractionControlOn", "ESPStatus", 0),
("EPBClosed", "EPBStatus", 0),
("CruiseMainOn", "ECMEngineStatus", 0),
("CruiseState", "AcceleratorPedal2", 0),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, [], CanBus.POWERTRAIN)

7
selfdrive/car/gm/interface.py
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@ -2,17 +2,16 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, \
from selfdrive.car.gm.values import CAR, Ecu, ECU_FINGERPRINT, CruiseButtons, \
SUPERCRUISE_CARS, AccState, FINGERPRINTS
from selfdrive.car.gm.carstate import CarState, CruiseButtons, get_powertrain_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_powertrain_can_parser)
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.acc_active_prev = 0

63
selfdrive/car/honda/carstate.py
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@ -150,37 +150,6 @@ def get_can_signals(CP):
return signals, checks
def get_can_parser(CP):
signals, checks = get_can_signals(CP)
bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
def get_cam_can_parser(CP):
signals = []
if CP.carFingerprint in HONDA_BOSCH:
signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0)]
else:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0),
("FCW", "BRAKE_COMMAND", 0),
("CHIME", "BRAKE_COMMAND", 0),
("FCM_OFF", "ACC_HUD", 0),
("FCM_OFF_2", "ACC_HUD", 0),
("FCM_PROBLEM", "ACC_HUD", 0),
("ICONS", "ACC_HUD", 0)]
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
@ -341,3 +310,35 @@ class CarState(CarStateBase):
self.stock_brake = cp_cam.vl["BRAKE_COMMAND"]
return ret
@staticmethod
def get_can_parser(CP):
signals, checks = get_can_signals(CP)
bus_pt = 1 if CP.isPandaBlack and CP.carFingerprint in HONDA_BOSCH else 0
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_pt)
@staticmethod
def get_cam_can_parser(CP):
signals = []
if CP.carFingerprint in HONDA_BOSCH:
signals += [("ACCEL_COMMAND", "ACC_CONTROL", 0),
("AEB_STATUS", "ACC_CONTROL", 0)]
else:
signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND", 0),
("AEB_REQ_1", "BRAKE_COMMAND", 0),
("FCW", "BRAKE_COMMAND", 0),
("CHIME", "BRAKE_COMMAND", 0),
("FCM_OFF", "ACC_HUD", 0),
("FCM_OFF_2", "ACC_HUD", 0),
("FCM_PROBLEM", "ACC_HUD", 0),
("ICONS", "ACC_HUD", 0)]
# all hondas except CRV, RDX and 2019 Odyssey@China use 0xe4 for steering
checks = [(0xe4, 100)]
if CP.carFingerprint in [CAR.CRV, CAR.ACURA_RDX, CAR.ODYSSEY_CHN]:
checks = [(0x194, 100)]
bus_cam = 1 if CP.carFingerprint in HONDA_BOSCH and not CP.isPandaBlack else 2
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, bus_cam)

5
selfdrive/car/honda/interface.py
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@ -6,7 +6,6 @@ from common.realtime import DT_CTRL
from selfdrive.swaglog import cloudlog
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET, get_events
from selfdrive.car.honda.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.honda.values import CruiseButtons, CAR, HONDA_BOSCH, Ecu, ECU_FINGERPRINT, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, CivicParams, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.controls.lib.planner import _A_CRUISE_MAX_V_FOLLOWING
@ -72,8 +71,8 @@ def get_compute_gb_acura():
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.last_enable_pressed = 0
self.last_enable_sent = 0

236
selfdrive/car/hyundai/carstate.py
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@ -6,124 +6,6 @@ from selfdrive.config import Conversions as CV
GearShifter = car.CarState.GearShifter
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WHL_SPD_FL", "WHL_SPD11", 0),
("WHL_SPD_FR", "WHL_SPD11", 0),
("WHL_SPD_RL", "WHL_SPD11", 0),
("WHL_SPD_RR", "WHL_SPD11", 0),
("YAW_RATE", "ESP12", 0),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
("CF_Gway_TSigLHSw", "CGW1", 0),
("CF_Gway_TurnSigLh", "CGW1", 0),
("CF_Gway_TSigRHSw", "CGW1", 0),
("CF_Gway_TurnSigRh", "CGW1", 0),
("CF_Gway_ParkBrakeSw", "CGW1", 0),
("BRAKE_ACT", "EMS12", 0),
("PV_AV_CAN", "EMS12", 0),
("TPS", "EMS12", 0),
("CYL_PRES", "ESP12", 0),
("CF_Clu_CruiseSwState", "CLU11", 0),
("CF_Clu_CruiseSwMain", "CLU11", 0),
("CF_Clu_SldMainSW", "CLU11", 0),
("CF_Clu_ParityBit1", "CLU11", 0),
("CF_Clu_VanzDecimal" , "CLU11", 0),
("CF_Clu_Vanz", "CLU11", 0),
("CF_Clu_SPEED_UNIT", "CLU11", 0),
("CF_Clu_DetentOut", "CLU11", 0),
("CF_Clu_RheostatLevel", "CLU11", 0),
("CF_Clu_CluInfo", "CLU11", 0),
("CF_Clu_AmpInfo", "CLU11", 0),
("CF_Clu_AliveCnt1", "CLU11", 0),
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
("CF_Lvr_Gear", "LVR12",0),
("CUR_GR", "TCU12",0),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("DriverOverride", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("CR_Mdps_DrvTq", "MDPS11", 0),
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACCMode", "SCC12", 1),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks = [
# address, frequency
("MDPS12", 50),
("MDPS11", 100),
("TCS15", 10),
("TCS13", 50),
("CLU11", 50),
("ESP12", 100),
("EMS12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
("SCC11", 50),
("SCC12", 50),
("SAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
("CF_Lkas_HbaLamp", "LKAS11", 0),
("CF_Lkas_FcwBasReq", "LKAS11", 0),
("CF_Lkas_ToiFlt", "LKAS11", 0),
("CF_Lkas_HbaSysState", "LKAS11", 0),
("CF_Lkas_FcwOpt", "LKAS11", 0),
("CF_Lkas_HbaOpt", "LKAS11", 0),
("CF_Lkas_FcwSysState", "LKAS11", 0),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
class CarState(CarStateBase):
def update(self, cp, cp_cam):
@ -225,3 +107,121 @@ class CarState(CarStateBase):
self.brake_error = 0
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("WHL_SPD_FL", "WHL_SPD11", 0),
("WHL_SPD_FR", "WHL_SPD11", 0),
("WHL_SPD_RL", "WHL_SPD11", 0),
("WHL_SPD_RR", "WHL_SPD11", 0),
("YAW_RATE", "ESP12", 0),
("CF_Gway_DrvSeatBeltInd", "CGW4", 1),
("CF_Gway_DrvSeatBeltSw", "CGW1", 0),
("CF_Gway_TSigLHSw", "CGW1", 0),
("CF_Gway_TurnSigLh", "CGW1", 0),
("CF_Gway_TSigRHSw", "CGW1", 0),
("CF_Gway_TurnSigRh", "CGW1", 0),
("CF_Gway_ParkBrakeSw", "CGW1", 0),
("BRAKE_ACT", "EMS12", 0),
("PV_AV_CAN", "EMS12", 0),
("TPS", "EMS12", 0),
("CYL_PRES", "ESP12", 0),
("CF_Clu_CruiseSwState", "CLU11", 0),
("CF_Clu_CruiseSwMain", "CLU11", 0),
("CF_Clu_SldMainSW", "CLU11", 0),
("CF_Clu_ParityBit1", "CLU11", 0),
("CF_Clu_VanzDecimal" , "CLU11", 0),
("CF_Clu_Vanz", "CLU11", 0),
("CF_Clu_SPEED_UNIT", "CLU11", 0),
("CF_Clu_DetentOut", "CLU11", 0),
("CF_Clu_RheostatLevel", "CLU11", 0),
("CF_Clu_CluInfo", "CLU11", 0),
("CF_Clu_AmpInfo", "CLU11", 0),
("CF_Clu_AliveCnt1", "CLU11", 0),
("CF_Clu_InhibitD", "CLU15", 0),
("CF_Clu_InhibitP", "CLU15", 0),
("CF_Clu_InhibitN", "CLU15", 0),
("CF_Clu_InhibitR", "CLU15", 0),
("CF_Lvr_Gear", "LVR12",0),
("CUR_GR", "TCU12",0),
("ACCEnable", "TCS13", 0),
("ACC_REQ", "TCS13", 0),
("DriverBraking", "TCS13", 0),
("DriverOverride", "TCS13", 0),
("ESC_Off_Step", "TCS15", 0),
("CF_Lvr_GearInf", "LVR11", 0), #Transmission Gear (0 = N or P, 1-8 = Fwd, 14 = Rev)
("CR_Mdps_DrvTq", "MDPS11", 0),
("CR_Mdps_StrColTq", "MDPS12", 0),
("CF_Mdps_ToiActive", "MDPS12", 0),
("CF_Mdps_ToiUnavail", "MDPS12", 0),
("CF_Mdps_FailStat", "MDPS12", 0),
("CR_Mdps_OutTq", "MDPS12", 0),
("VSetDis", "SCC11", 0),
("SCCInfoDisplay", "SCC11", 0),
("ACCMode", "SCC12", 1),
("SAS_Angle", "SAS11", 0),
("SAS_Speed", "SAS11", 0),
]
checks = [
# address, frequency
("MDPS12", 50),
("MDPS11", 100),
("TCS15", 10),
("TCS13", 50),
("CLU11", 50),
("ESP12", 100),
("EMS12", 100),
("CGW1", 10),
("CGW4", 5),
("WHL_SPD11", 50),
("SCC11", 50),
("SCC12", 50),
("SAS11", 100)
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("CF_Lkas_LdwsSysState", "LKAS11", 0),
("CF_Lkas_SysWarning", "LKAS11", 0),
("CF_Lkas_LdwsLHWarning", "LKAS11", 0),
("CF_Lkas_LdwsRHWarning", "LKAS11", 0),
("CF_Lkas_HbaLamp", "LKAS11", 0),
("CF_Lkas_FcwBasReq", "LKAS11", 0),
("CF_Lkas_ToiFlt", "LKAS11", 0),
("CF_Lkas_HbaSysState", "LKAS11", 0),
("CF_Lkas_FcwOpt", "LKAS11", 0),
("CF_Lkas_HbaOpt", "LKAS11", 0),
("CF_Lkas_FcwSysState", "LKAS11", 0),
("CF_Lkas_FcwCollisionWarning", "LKAS11", 0),
("CF_Lkas_FusionState", "LKAS11", 0),
("CF_Lkas_FcwOpt_USM", "LKAS11", 0),
("CF_Lkas_LdwsOpt_USM", "LKAS11", 0)
]
checks = []
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

5
selfdrive/car/hyundai/interface.py
Unescape View File

@ -2,7 +2,6 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.car.hyundai.carstate import CarState, get_can_parser, get_camera_parser
from selfdrive.car.hyundai.values import Ecu, ECU_FINGERPRINT, CAR, get_hud_alerts, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -11,8 +10,8 @@ GearShifter = car.CarState.GearShifter
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_camera_parser)
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.idx = 0
self.lanes = 0

11
selfdrive/car/interfaces.py
Unescape View File

@ -11,7 +11,7 @@ GearShifter = car.CarState.GearShifter
# generic car and radar interfaces
class CarInterfaceBase():
def __init__(self, CP, CarController, CarState, get_can_parser, get_cam_can_parser=None):
def __init__(self, CP, CarController, CarState):
self.CP = CP
self.VM = VehicleModel(CP)
@ -21,9 +21,8 @@ class CarInterfaceBase():
self.cruise_enabled_prev = False
self.CS = CarState(CP)
self.cp = get_can_parser(CP)
if get_cam_can_parser is not None:
self.cp_cam = get_cam_can_parser(CP)
self.cp = self.CS.get_can_parser(CP)
self.cp_cam = self.CS.get_cam_can_parser(CP)
self.CC = None
if CarController is not None:
@ -88,3 +87,7 @@ class CarStateBase:
return {'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake}.get(gear, GearShifter.unknown)
@staticmethod
def get_cam_can_parser(CP):
return None

2
selfdrive/car/mock/interface.py
Unescape View File

@ -14,7 +14,7 @@ LPG = 2 * 3.1415 * YAW_FR * TS / (1 + 2 * 3.1415 * YAW_FR * TS)
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
def __init__(self, CP, CarController, CarState):
self.CP = CP
self.CC = CarController

155
selfdrive/car/subaru/carstate.py
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@ -5,83 +5,6 @@ from selfdrive.car.interfaces import CarStateBase
from opendbc.can.parser import CANParser
from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD
def get_powertrain_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("Throttle_Pedal", "Throttle", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
("Units", "Dash_State", 1),
]
checks = [
# sig_address, frequency
("Dashlights", 10),
("CruiseControl", 20),
("Wheel_Speeds", 50),
("Steering_Torque", 50),
("BodyInfo", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_camera_can_parser(CP):
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Main", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Checksum", "ES_LKAS_State", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("Signal4", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("Signal6", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("Signal7", "ES_LKAS_State", 0),
("FCW_Cont_Beep", "ES_LKAS_State", 0),
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
("Throttle_Management_Activated", "ES_LKAS_State", 0),
("Traffic_light_Ahead", "ES_LKAS_State", 0),
("Right_Depart", "ES_LKAS_State", 0),
("Signal5", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
class CarState(CarStateBase):
def __init__(self, CP):
@ -133,3 +56,81 @@ class CarState(CarStateBase):
self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
return ret
@staticmethod
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("Steer_Torque_Sensor", "Steering_Torque", 0),
("Steering_Angle", "Steering_Torque", 0),
("Cruise_On", "CruiseControl", 0),
("Cruise_Activated", "CruiseControl", 0),
("Brake_Pedal", "Brake_Pedal", 0),
("Throttle_Pedal", "Throttle", 0),
("LEFT_BLINKER", "Dashlights", 0),
("RIGHT_BLINKER", "Dashlights", 0),
("SEATBELT_FL", "Dashlights", 0),
("FL", "Wheel_Speeds", 0),
("FR", "Wheel_Speeds", 0),
("RL", "Wheel_Speeds", 0),
("RR", "Wheel_Speeds", 0),
("DOOR_OPEN_FR", "BodyInfo", 1),
("DOOR_OPEN_FL", "BodyInfo", 1),
("DOOR_OPEN_RR", "BodyInfo", 1),
("DOOR_OPEN_RL", "BodyInfo", 1),
("Units", "Dash_State", 1),
]
checks = [
# sig_address, frequency
("Dashlights", 10),
("CruiseControl", 20),
("Wheel_Speeds", 50),
("Steering_Torque", 50),
("BodyInfo", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [
("Cruise_Set_Speed", "ES_DashStatus", 0),
("Counter", "ES_Distance", 0),
("Signal1", "ES_Distance", 0),
("Signal2", "ES_Distance", 0),
("Main", "ES_Distance", 0),
("Signal3", "ES_Distance", 0),
("Checksum", "ES_LKAS_State", 0),
("Counter", "ES_LKAS_State", 0),
("Keep_Hands_On_Wheel", "ES_LKAS_State", 0),
("Empty_Box", "ES_LKAS_State", 0),
("Signal1", "ES_LKAS_State", 0),
("LKAS_ACTIVE", "ES_LKAS_State", 0),
("Signal2", "ES_LKAS_State", 0),
("Backward_Speed_Limit_Menu", "ES_LKAS_State", 0),
("LKAS_ENABLE_3", "ES_LKAS_State", 0),
("Signal3", "ES_LKAS_State", 0),
("LKAS_ENABLE_2", "ES_LKAS_State", 0),
("Signal4", "ES_LKAS_State", 0),
("LKAS_Left_Line_Visible", "ES_LKAS_State", 0),
("Signal6", "ES_LKAS_State", 0),
("LKAS_Right_Line_Visible", "ES_LKAS_State", 0),
("Signal7", "ES_LKAS_State", 0),
("FCW_Cont_Beep", "ES_LKAS_State", 0),
("FCW_Repeated_Beep", "ES_LKAS_State", 0),
("Throttle_Management_Activated", "ES_LKAS_State", 0),
("Traffic_light_Ahead", "ES_LKAS_State", 0),
("Right_Depart", "ES_LKAS_State", 0),
("Signal5", "ES_LKAS_State", 0),
]
checks = [
("ES_DashStatus", 10),
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

7
selfdrive/car/subaru/interface.py
Unescape View File

@ -3,17 +3,14 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.subaru.values import CAR
from selfdrive.car.subaru.carstate import CarState, get_powertrain_can_parser, get_camera_can_parser
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_powertrain_can_parser, get_cam_can_parser=get_camera_can_parser)
self.CP = CP
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.enabled_prev = 0
@staticmethod

152
selfdrive/car/toyota/carstate.py
Unescape View File

@ -7,82 +7,6 @@ from selfdrive.config import Conversions as CV
from selfdrive.car.toyota.values import CAR, DBC, STEER_THRESHOLD, TSS2_CAR, NO_DSU_CAR, NO_STOP_TIMER_CAR
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint == CAR.LEXUS_IS:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint in NO_DSU_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
def get_cam_can_parser(CP):
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
# use steering message to check if panda is connected to frc
checks = [("STEERING_LKA", 42)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
@ -169,3 +93,79 @@ class CarState(CarStateBase):
self.ipas_active = cp.vl['EPS_STATUS']['IPAS_STATE'] == 3
return ret
@staticmethod
def get_can_parser(CP):
signals = [
# sig_name, sig_address, default
("STEER_ANGLE", "STEER_ANGLE_SENSOR", 0),
("GEAR", "GEAR_PACKET", 0),
("BRAKE_PRESSED", "BRAKE_MODULE", 0),
("GAS_PEDAL", "GAS_PEDAL", 0),
("WHEEL_SPEED_FL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_FR", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RL", "WHEEL_SPEEDS", 0),
("WHEEL_SPEED_RR", "WHEEL_SPEEDS", 0),
("DOOR_OPEN_FL", "SEATS_DOORS", 1),
("DOOR_OPEN_FR", "SEATS_DOORS", 1),
("DOOR_OPEN_RL", "SEATS_DOORS", 1),
("DOOR_OPEN_RR", "SEATS_DOORS", 1),
("SEATBELT_DRIVER_UNLATCHED", "SEATS_DOORS", 1),
("TC_DISABLED", "ESP_CONTROL", 1),
("STEER_FRACTION", "STEER_ANGLE_SENSOR", 0),
("STEER_RATE", "STEER_ANGLE_SENSOR", 0),
("CRUISE_ACTIVE", "PCM_CRUISE", 0),
("CRUISE_STATE", "PCM_CRUISE", 0),
("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR", 0),
("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR", 0),
("TURN_SIGNALS", "STEERING_LEVERS", 3), # 3 is no blinkers
("LKA_STATE", "EPS_STATUS", 0),
("IPAS_STATE", "EPS_STATUS", 1),
("BRAKE_LIGHTS_ACC", "ESP_CONTROL", 0),
("AUTO_HIGH_BEAM", "LIGHT_STALK", 0),
]
checks = [
("BRAKE_MODULE", 40),
("GAS_PEDAL", 33),
("WHEEL_SPEEDS", 80),
("STEER_ANGLE_SENSOR", 80),
("PCM_CRUISE", 33),
("STEER_TORQUE_SENSOR", 50),
("EPS_STATUS", 25),
]
if CP.carFingerprint == CAR.LEXUS_IS:
signals.append(("MAIN_ON", "DSU_CRUISE", 0))
signals.append(("SET_SPEED", "DSU_CRUISE", 0))
checks.append(("DSU_CRUISE", 5))
else:
signals.append(("MAIN_ON", "PCM_CRUISE_2", 0))
signals.append(("SET_SPEED", "PCM_CRUISE_2", 0))
signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2", 0))
checks.append(("PCM_CRUISE_2", 33))
if CP.carFingerprint in NO_DSU_CAR:
signals += [("STEER_ANGLE", "STEER_TORQUE_SENSOR", 0)]
if CP.carFingerprint == CAR.PRIUS:
signals += [("STATE", "AUTOPARK_STATUS", 0)]
# add gas interceptor reading if we are using it
if CP.enableGasInterceptor:
signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR", 0))
signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR", 0))
checks.append(("GAS_SENSOR", 50))
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 0)
@staticmethod
def get_cam_can_parser(CP):
signals = [("FORCE", "PRE_COLLISION", 0), ("PRECOLLISION_ACTIVE", "PRE_COLLISION", 0)]
# use steering message to check if panda is connected to frc
checks = [("STEERING_LKA", 42)]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, 2)

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

@ -2,7 +2,6 @@
from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import EventTypes as ET, create_event
from selfdrive.car.toyota.carstate import CarState, get_can_parser, get_cam_can_parser
from selfdrive.car.toyota.values import Ecu, ECU_FINGERPRINT, CAR, TSS2_CAR, FINGERPRINTS
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, is_ecu_disconnected, gen_empty_fingerprint
from selfdrive.swaglog import cloudlog
@ -12,8 +11,6 @@ ButtonType = car.CarState.ButtonEvent.Type
GearShifter = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_can_parser, get_cam_can_parser=get_cam_can_parser)
@staticmethod
def compute_gb(accel, speed):

185
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -6,98 +6,6 @@ from opendbc.can.parser import CANParser
from opendbc.can.can_define import CANDefine
from selfdrive.car.volkswagen.values import DBC, CANBUS, BUTTON_STATES, CarControllerParams
def get_mqb_pt_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
("SetSpeed", "ACC_02", 0), # ACC set speed
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("ACC_06", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
("ACC_02", 17), # From J428 ACC radar control module
("Getriebe_11", 20), # From J743 Auto transmission control module
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Motor_14", 10), # From J623 Engine control module
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
("Motor_16", 2), # From J623 Engine control module
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
# A single signal is monitored from the camera CAN bus, and then ignored,
# so the presence of CAN traffic can be verified with cam_cp.valid.
def get_mqb_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
]
checks = [
# sig_address, frequency
("LDW_02", 10) # From R242 Driver assistance camera
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)
class CarState(CarStateBase):
def __init__(self, CP):
super().__init__(CP)
@ -211,3 +119,96 @@ class CarState(CarStateBase):
self.stabilityControlDisabled = pt_cp.vl["ESP_21"]['ESP_Tastung_passiv']
return ret
@staticmethod
def get_can_parser(CP):
# this function generates lists for signal, messages and initial values
signals = [
# sig_name, sig_address, default
("LWI_Lenkradwinkel", "LWI_01", 0), # Absolute steering angle
("LWI_VZ_Lenkradwinkel", "LWI_01", 0), # Steering angle sign
("LWI_Lenkradw_Geschw", "LWI_01", 0), # Absolute steering rate
("LWI_VZ_Lenkradw_Geschw", "LWI_01", 0), # Steering rate sign
("ESP_VL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front left
("ESP_VR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, front right
("ESP_HL_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear left
("ESP_HR_Radgeschw_02", "ESP_19", 0), # ABS wheel speed, rear right
("ESP_Gierrate", "ESP_02", 0), # Absolute yaw rate
("ESP_VZ_Gierrate", "ESP_02", 0), # Yaw rate sign
("ZV_FT_offen", "Gateway_72", 0), # Door open, driver
("ZV_BT_offen", "Gateway_72", 0), # Door open, passenger
("ZV_HFS_offen", "Gateway_72", 0), # Door open, rear left
("ZV_HBFS_offen", "Gateway_72", 0), # Door open, rear right
("ZV_HD_offen", "Gateway_72", 0), # Trunk or hatch open
("BH_Blinker_li", "Gateway_72", 0), # Left turn signal on
("BH_Blinker_re", "Gateway_72", 0), # Right turn signal on
("GE_Fahrstufe", "Getriebe_11", 0), # Auto trans gear selector position
("AB_Gurtschloss_FA", "Airbag_02", 0), # Seatbelt status, driver
("AB_Gurtschloss_BF", "Airbag_02", 0), # Seatbelt status, passenger
("ESP_Fahrer_bremst", "ESP_05", 0), # Brake pedal pressed
("ESP_Status_Bremsdruck", "ESP_05", 0), # Brakes applied
("ESP_Bremsdruck", "ESP_05", 0), # Brake pressure applied
("MO_Fahrpedalrohwert_01", "Motor_20", 0), # Accelerator pedal value
("MO_Kuppl_schalter", "Motor_14", 0), # Clutch switch
("Driver_Strain", "EPS_01", 0), # Absolute driver torque input
("Driver_Strain_VZ", "EPS_01", 0), # Driver torque input sign
("HCA_Ready", "EPS_01", 0), # Steering rack HCA support configured
("ESP_Tastung_passiv", "ESP_21", 0), # Stability control disabled
("KBI_MFA_v_Einheit_02", "Einheiten_01", 0), # MPH vs KMH speed display
("KBI_Handbremse", "Kombi_01", 0), # Manual handbrake applied
("TSK_Fahrzeugmasse_02", "Motor_16", 0), # Estimated vehicle mass from drivetrain coordinator
("ACC_Status_ACC", "ACC_06", 0), # ACC engagement status
("ACC_Typ", "ACC_06", 0), # ACC type (follow to stop, stop&go)
("SetSpeed", "ACC_02", 0), # ACC set speed
("GRA_Hauptschalter", "GRA_ACC_01", 0), # ACC button, on/off
("GRA_Abbrechen", "GRA_ACC_01", 0), # ACC button, cancel
("GRA_Tip_Setzen", "GRA_ACC_01", 0), # ACC button, set
("GRA_Tip_Hoch", "GRA_ACC_01", 0), # ACC button, increase or accel
("GRA_Tip_Runter", "GRA_ACC_01", 0), # ACC button, decrease or decel
("GRA_Tip_Wiederaufnahme", "GRA_ACC_01", 0), # ACC button, resume
("GRA_Verstellung_Zeitluecke", "GRA_ACC_01", 0), # ACC button, time gap adj
("GRA_Typ_Hauptschalter", "GRA_ACC_01", 0), # ACC main button type
("GRA_Tip_Stufe_2", "GRA_ACC_01", 0), # unknown related to stalk type
("GRA_ButtonTypeInfo", "GRA_ACC_01", 0), # unknown related to stalk type
("COUNTER", "GRA_ACC_01", 0), # GRA_ACC_01 CAN message counter
]
checks = [
# sig_address, frequency
("LWI_01", 100), # From J500 Steering Assist with integrated sensors
("EPS_01", 100), # From J500 Steering Assist with integrated sensors
("ESP_19", 100), # From J104 ABS/ESP controller
("ESP_05", 50), # From J104 ABS/ESP controller
("ESP_21", 50), # From J104 ABS/ESP controller
("ACC_06", 50), # From J428 ACC radar control module
("Motor_20", 50), # From J623 Engine control module
("GRA_ACC_01", 33), # From J??? steering wheel control buttons
("ACC_02", 17), # From J428 ACC radar control module
("Getriebe_11", 20), # From J743 Auto transmission control module
("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
("Motor_14", 10), # From J623 Engine control module
("Airbag_02", 5), # From J234 Airbag control module
("Kombi_01", 2), # From J285 Instrument cluster
("Motor_16", 2), # From J623 Engine control module
("Einheiten_01", 1), # From J??? not known if gateway, cluster, or BCM
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.pt)
# A single signal is monitored from the camera CAN bus, and then ignored,
# so the presence of CAN traffic can be verified with cam_cp.valid.
@staticmethod
def get_cam_can_parser(CP):
signals = [
# sig_name, sig_address, default
("Kombi_Lamp_Green", "LDW_02", 0), # Lane Assist status LED
]
checks = [
# sig_address, frequency
("LDW_02", 10) # From R242 Driver assistance camera
]
return CANParser(DBC[CP.carFingerprint]['pt'], signals, checks, CANBUS.cam)

5
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -2,7 +2,6 @@ from cereal import car
from selfdrive.config import Conversions as CV
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
from selfdrive.car.volkswagen.carstate import CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser
from common.params import Params
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
from selfdrive.car.interfaces import CarInterfaceBase
@ -10,8 +9,8 @@ from selfdrive.car.interfaces import CarInterfaceBase
GEAR = car.CarState.GearShifter
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController):
super().__init__(CP, CarController, CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser)
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
self.displayMetricUnitsPrev = None
self.buttonStatesPrev = BUTTON_STATES.copy()

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