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Merge branch 'master' into trailblazer_support

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Yong-seok, Jang 2 years ago committed by GitHub
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  1. 9
      .github/workflows/selfdrive_tests.yaml
  2. 3
      .gitignore
  3. 28
      Jenkinsfile
  4. 7
      README.md
  5. 3
      RELEASES.md
  6. 16
      SConstruct
  7. 2
      cereal
  8. 13
      common/gpio.py
  9. 9
      common/params.cc
  10. 18
      docs/CARS.md
  11. 2
      docs/c_docs.rst
  12. 2
      docs/overview.rst
  13. 2
      laika_repo
  14. 2
      opendbc
  15. 2
      panda
  16. 508
      poetry.lock
  17. 15
      pyproject.toml
  18. 81
      release/files_common
  19. 2
      release/files_tici
  20. 4
      selfdrive/athena/athenad.py
  21. 34
      selfdrive/boardd/boardd.cc
  22. 2
      selfdrive/boardd/panda.cc
  23. 6
      selfdrive/boardd/pandad.py
  24. 38
      selfdrive/boardd/set_time.py
  25. 5
      selfdrive/boardd/spi.cc
  26. 7
      selfdrive/boardd/tests/test_boardd_loopback.py
  27. 48
      selfdrive/boardd/tests/test_pandad.py
  28. 15
      selfdrive/car/car_helpers.py
  29. 118
      selfdrive/car/chrysler/values.py
  30. 12
      selfdrive/car/docs_definitions.py
  31. 12
      selfdrive/car/ecu_addrs.py
  32. 6
      selfdrive/car/ford/values.py
  33. 14
      selfdrive/car/fw_query_definitions.py
  34. 90
      selfdrive/car/fw_versions.py
  35. 40
      selfdrive/car/gm/interface.py
  36. 15
      selfdrive/car/gm/values.py
  37. 10
      selfdrive/car/honda/carcontroller.py
  38. 9
      selfdrive/car/honda/carstate.py
  39. 54
      selfdrive/car/honda/hondacan.py
  40. 14
      selfdrive/car/honda/interface.py
  41. 0
      selfdrive/car/honda/tests/__init__.py
  42. 19
      selfdrive/car/honda/values.py
  43. 0
      selfdrive/car/hyundai/tests/__init__.py
  44. 98
      selfdrive/car/hyundai/values.py
  45. 33
      selfdrive/car/interfaces.py
  46. 8
      selfdrive/car/isotp_parallel_query.py
  47. 4
      selfdrive/car/nissan/values.py
  48. 6
      selfdrive/car/subaru/values.py
  49. 5
      selfdrive/car/tests/routes.py
  50. 12
      selfdrive/car/tests/test_lateral_limits.py
  51. 4
      selfdrive/car/torque_data/override.yaml
  52. 2
      selfdrive/car/torque_data/params.yaml
  53. 2
      selfdrive/car/torque_data/substitute.yaml
  54. 5
      selfdrive/car/toyota/carcontroller.py
  55. 12
      selfdrive/car/toyota/carstate.py
  56. 35
      selfdrive/car/toyota/interface.py
  57. 0
      selfdrive/car/toyota/tests/__init__.py
  58. 13
      selfdrive/car/toyota/tests/test_toyota.py
  59. 2
      selfdrive/car/toyota/toyotacan.py
  60. 112
      selfdrive/car/toyota/values.py
  61. 10
      selfdrive/car/volkswagen/carstate.py
  62. 4
      selfdrive/car/volkswagen/interface.py
  63. 14
      selfdrive/car/volkswagen/mqbcan.py
  64. 19
      selfdrive/car/volkswagen/pqcan.py
  65. 51
      selfdrive/car/volkswagen/values.py
  66. 3
      selfdrive/controls/controlsd.py
  67. 10
      selfdrive/controls/lib/drive_helpers.py
  68. 9
      selfdrive/controls/lib/events.py
  69. 6
      selfdrive/controls/lib/latcontrol_torque.py
  70. 1
      selfdrive/controls/plannerd.py
  71. 5
      selfdrive/controls/tests/test_startup.py
  72. 3
      selfdrive/debug/hyundai_enable_radar_points.py
  73. 43
      selfdrive/debug/internal/check_frame_frequencies.py
  74. 4
      selfdrive/debug/profiling/watch-irqs.sh
  75. 3
      selfdrive/locationd/.gitignore
  76. 19
      selfdrive/locationd/SConscript
  77. 327
      selfdrive/locationd/laikad.py
  78. 17
      selfdrive/locationd/locationd.cc
  79. 3
      selfdrive/locationd/locationd.h
  80. 262
      selfdrive/locationd/test/test_laikad.py
  81. 4
      selfdrive/manager/manager.py
  82. 24
      selfdrive/manager/process_config.py
  83. 2
      selfdrive/modeld/SConscript
  84. 8
      selfdrive/modeld/models/README.md
  85. 4
      selfdrive/modeld/models/supercombo.onnx
  86. 2
      selfdrive/statsd.py
  87. 2
      selfdrive/test/process_replay/model_replay_ref_commit
  88. 134
      selfdrive/test/process_replay/process_replay.py
  89. 2
      selfdrive/test/process_replay/ref_commit
  90. 14
      selfdrive/test/process_replay/test_processes.py
  91. 4
      selfdrive/test/test_onroad.py
  92. 2
      selfdrive/test/test_valgrind_replay.py
  93. 2
      selfdrive/thermald/thermald.py
  94. 2
      selfdrive/tombstoned.py
  95. 38
      selfdrive/ui/qt/maps/map.cc
  96. 9
      selfdrive/ui/qt/offroad/settings.cc
  97. 20
      selfdrive/ui/qt/onroad.cc
  98. 14
      selfdrive/ui/qt/widgets/cameraview.cc
  99. 5
      selfdrive/ui/qt/widgets/cameraview.h
  100. 24
      selfdrive/ui/translations/main_de.ts
  101. Some files were not shown because too many files have changed in this diff Show More

9
.github/workflows/selfdrive_tests.yaml
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@ -204,11 +204,12 @@ jobs:
$UNIT_TEST selfdrive/boardd && \
$UNIT_TEST selfdrive/controls && \
$UNIT_TEST selfdrive/monitoring && \
$UNIT_TEST selfdrive/loggerd && \
$UNIT_TEST system/loggerd && \
$UNIT_TEST selfdrive/car && \
$UNIT_TEST selfdrive/locationd && \
$UNIT_TEST system/ubloxd && \
selfdrive/locationd/test/_test_locationd_lib.py && \
./selfdrive/locationd/test/test_glonass_runner && \
./system/ubloxd/tests/test_glonass_runner && \
$UNIT_TEST selfdrive/athena && \
$UNIT_TEST selfdrive/thermald && \
$UNIT_TEST system/hardware/tici && \
@ -219,7 +220,7 @@ jobs:
./common/tests/test_util && \
./common/tests/test_swaglog && \
./selfdrive/boardd/tests/test_boardd_usbprotocol && \
./selfdrive/loggerd/tests/test_logger &&\
./system/loggerd/tests/test_logger &&\
./system/proclogd/tests/test_proclog && \
./tools/replay/tests/test_replay && \
./tools/cabana/tests/test_cabana && \
@ -260,7 +261,7 @@ jobs:
name: process_replay_diff.txt
path: selfdrive/test/process_replay/diff.txt
- name: Upload reference logs
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
run: |
${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
- name: "Upload coverage to Codecov"

3
.gitignore vendored
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@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
system/proclogd/proclogd
selfdrive/ui/_ui
selfdrive/test/longitudinal_maneuvers/out
selfdrive/visiond/visiond
selfdrive/sensord/_gpsd
selfdrive/sensord/_sensord
system/camerad/camerad
system/camerad/test/ae_gray_test
selfdrive/modeld/_modeld

28
Jenkinsfile vendored
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@ -125,6 +125,21 @@ pipeline {
}
*/
stage('tizi-tests') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
steps {
phone_steps("tizi", [
["build openpilot", "cd selfdrive/manager && ./build.py"],
["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
["test camerad", "python system/camerad/test/test_camerad.py"],
["test exposure", "python system/camerad/test/test_exposure.py"],
["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
])
}
}
stage('build') {
agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
environment {
@ -156,11 +171,12 @@ pipeline {
steps {
phone_steps("tici-common", [
["build", "cd selfdrive/manager && ./build.py"],
["test power draw", "python system/hardware/tici/test_power_draw.py"],
["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
["test pigeond", "python system/sensord/tests/test_pigeond.py"],
["test manager", "python selfdrive/manager/test/test_manager.py"],
["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
])
}
}
@ -192,11 +208,11 @@ pipeline {
steps {
phone_steps("tici-lsmc", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
phone_steps("tici-bmx-lsm", [
["build", "cd selfdrive/manager && ./build.py"],
["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
])
}
}

7
README.md
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@ -108,7 +108,10 @@ Directory Structure
├── clocksd # Broadcasts current time
├── hardware # Hardware abstraction classes
├── logcatd # systemd journal as a service
└── proclogd # Logs information from /proc
├── loggerd # Logger and uploader of car data
├── proclogd # Logs information from /proc
├── sensord # IMU interface code
└── ubloxd # u-blox GNSS module interface code
└── selfdrive # Code needed to drive the car
├── assets # Fonts, images, and sounds for UI
├── athena # Allows communication with the app
@ -117,12 +120,10 @@ Directory Structure
├── controls # Planning and controls
├── debug # Tools to help you debug and do car ports
├── locationd # Precise localization and vehicle parameter estimation
├── loggerd # Logger and uploader of car data
├── manager # Daemon that starts/stops all other daemons as needed
├── modeld # Driving and monitoring model runners
├── monitoring # Daemon to determine driver attention
├── navd # Turn-by-turn navigation
├── sensord # IMU interface code
├── test # Unit tests, system tests, and a car simulator
└── ui # The UI

3
RELEASES.md
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@ -1,6 +1,9 @@
Version 0.9.2 (2023-03-XX)
========================
* New driving model, trained on a new dataset
* Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
* Buick LaCrosse 2017-19 support thanks to koch-cf!
* Škoda Fabia 2022-23 support thanks to jyoung8607!
Version 0.9.1 (2023-02-28)
========================

16
SConstruct
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@ -5,6 +5,8 @@ import sysconfig
import platform
import numpy as np
import SCons.Errors
TICI = os.path.isfile('/TICI')
AGNOS = TICI
@ -311,7 +313,11 @@ else:
elif arch != "Darwin":
qt_libs += ["GL"]
qt_env.Tool('qt')
try:
qt_env.Tool('qt3')
except SCons.Errors.UserError:
qt_env.Tool('qt')
qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
qt_flags = [
"-D_REENTRANT",
@ -398,6 +404,7 @@ SConscript([
'system/camerad/SConscript',
'system/clocksd/SConscript',
'system/proclogd/SConscript',
'system/ubloxd/SConscript',
])
if arch != "Darwin":
SConscript(['system/logcatd/SConscript'])
@ -424,18 +431,15 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
SConscript(['selfdrive/boardd/SConscript'])
SConscript(['selfdrive/loggerd/SConscript'])
SConscript(['system/loggerd/SConscript'])
SConscript(['selfdrive/locationd/SConscript'])
SConscript(['selfdrive/sensord/SConscript'])
SConscript(['system/sensord/SConscript'])
SConscript(['selfdrive/ui/SConscript'])
SConscript(['selfdrive/navd/SConscript'])
if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
SConscript(['tools/replay/SConscript'])
opendbc = abspath([File('opendbc/can/libdbc.so')])
Export('opendbc')
SConscript(['tools/cabana/SConscript'])
external_sconscript = GetOption('external_sconscript')

2
cereal

@ -1 +1 @@
Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
Subproject commit 4f5502c8657813ccb538e9575ca1a7b258b17af9

13
common/gpio.py
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@ -1,4 +1,5 @@
from typing import Optional
import glob
from typing import Optional, List
def gpio_init(pin: int, output: bool) -> None:
try:
@ -23,3 +24,13 @@ def gpio_read(pin: int) -> Optional[bool]:
print(f"Failed to set gpio {pin} value: {e}")
return val
def get_irq_for_action(action: str) -> List[int]:
ret = []
for fn in glob.glob('/sys/kernel/irq/*/actions'):
with open(fn) as f:
actions = f.read().strip().split(',')
if action in actions:
irq = int(fn.split('/')[-2])
ret.append(irq)
return ret

9
common/params.cc
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@ -98,8 +98,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CompletedTrainingVersion", PERSISTENT},
{"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"CurrentBootlog", PERSISTENT},
{"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DashcamOverride", PERSISTENT},
{"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"DisablePowerDown", PERSISTENT},
{"ExperimentalMode", PERSISTENT},
@ -111,7 +111,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"DoReboot", CLEAR_ON_MANAGER_START},
{"DoShutdown", CLEAR_ON_MANAGER_START},
{"DoUninstall", CLEAR_ON_MANAGER_START},
{"FirmwareObdQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ForcePowerDown", CLEAR_ON_MANAGER_START},
{"GitBranch", PERSISTENT},
{"GitCommit", PERSISTENT},
@ -138,7 +138,7 @@ std::unordered_map<std::string, uint32_t> keys = {
{"IsReleaseBranch", CLEAR_ON_MANAGER_START},
{"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
{"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"LaikadEphemerisV2", PERSISTENT | DONT_LOG},
{"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
{"LanguageSetting", PERSISTENT},
{"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
{"LastGPSPosition", PERSISTENT},
@ -155,7 +155,8 @@ std::unordered_map<std::string, uint32_t> keys = {
{"NavSettingTime24h", PERSISTENT},
{"NavSettingLeftSide", PERSISTENT},
{"NavdRender", PERSISTENT},
{"ObdMultiplexingDisabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
{"OpenpilotEnabledToggle", PERSISTENT},
{"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
{"PandaSignatures", CLEAR_ON_MANAGER_START},

18
docs/CARS.md
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@ -4,7 +4,7 @@
A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
# 238 Supported Cars
# 239 Supported Cars
|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -17,6 +17,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533</a>||
|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533</a>||
|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533</a>||
|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II</a>||
|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II</a>||
|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II</a>||
|Chevrolet|Trailblazer 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2020-22">GM</a>|<a href="https://youtu.be/uK5gETxIB2Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@ -44,9 +45,9 @@ A supported vehicle is one that just works when you install a comma three. All s
|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A</a>||
|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec</a>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A</a>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A</a>||
|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B</a>||
|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec</a>||
|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A</a>||
|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A</a>||
@ -117,7 +118,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A</a>||
|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E</a>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Kia|Sorento 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2022-23">Hyundai K</a>||
|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K</a>||
|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A</a>||
|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N</a>||
|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N</a>||
@ -126,14 +127,14 @@ A supported vehicle is one that just works when you install a comma three. All s
|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H</a>||
|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota</a>||
|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota</a>||
|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota</a>||
|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota</a>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota</a>||
|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota</a>||
|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota</a>||
|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota</a>||
|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota</a>||
|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2017-20">Toyota</a>||
|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota</a>||
|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota</a>||
|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota</a>||
|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota</a>||
@ -149,7 +150,7 @@ A supported vehicle is one that just works when you install a comma three. All s
|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-22">Nissan A</a>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A</a>||
|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A</a>||
|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-22">Ram</a>||
|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram</a>||
|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533</a>||
|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533</a>||
|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A</a>||
@ -162,9 +163,10 @@ A supported vehicle is one that just works when you install a comma three. All s
|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||

2
docs/c_docs.rst
Unescape View File

@ -83,7 +83,7 @@ common
sensorsd
^^^^^^^^
.. autodoxygenindex::
:project: selfdrive_sensord_sensors
:project: system_sensord_sensors
boardd
^^^^^^

2
docs/overview.rst
Unescape View File

@ -5,7 +5,7 @@ openpilot
:maxdepth: 4
Debugging <selfdrive/debug/README.md>
selfdrive/loggerd/README.md
system/loggerd/README.md
Driver Monitoring <selfdrive/monitoring/README.md>
Process Replay <selfdrive/test/process_replay/README.md>

2
laika_repo

@ -1 +1 @@
Subproject commit b740b71c82a748e3520b1599487d9a7aaf728670
Subproject commit 6fadabd86043ee19e06c6ed59aa4e688c14fa8e4

2
opendbc

@ -1 +1 @@
Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71
Subproject commit 8a3c9a72519d90d12a6c7705ee0daaa3ba5662c4

2
panda

@ -1 +1 @@
Subproject commit 1923b1418933e464ff7460a3e0a05d63aad0d53b
Subproject commit 878e0077ac077c5325b37710b8df856468d85674

508
poetry.lock generated
Unescape View File

@ -55,7 +55,7 @@ frozenlist = ">=1.1.0"
name = "alabaster"
version = "0.7.12"
description = "A configurable sidebar-enabled Sphinx theme"
category = "dev"
category = "main"
optional = false
python-versions = "*"
@ -113,9 +113,12 @@ category = "dev"
optional = false
python-versions = "*"
[package.dependencies]
packaging = ">20.6"
[package.source]
type = "url"
url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl"
url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl"
[[package]]
name = "appdirs"
@ -371,7 +374,7 @@ azure-nspkg = ">=2.0.0"
name = "babel"
version = "2.10.3"
description = "Internationalization utilities"
category = "dev"
category = "main"
optional = false
python-versions = ">=3.6"
@ -457,6 +460,14 @@ python-versions = "*"
docutils = ">=0.12"
Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"
[[package]]
name = "brotli"
version = "1.0.9"
description = "Python bindings for the Brotli compression library"
category = "dev"
optional = false
python-versions = "*"
[[package]]
name = "cachecontrol"
version = "0.12.11"
@ -600,6 +611,17 @@ category = "dev"
optional = false
python-versions = ">=3.6"
[[package]]
name = "cmake"
version = "3.26.0"
description = "CMake is an open-source, cross-platform family of tools designed to build, test and package software"
category = "dev"
optional = false
python-versions = "*"
[package.extras]
test = ["codecov (>=2.0.5)", "coverage (>=4.2)", "flake8 (>=3.0.4)", "path.py (>=11.5.0)", "pytest (>=3.0.3)", "pytest-cov (>=2.4.0)", "pytest-runner (>=2.9)", "pytest-virtualenv (>=1.7.0)", "scikit-build (>=0.10.0)", "setuptools (>=28.0.0)", "virtualenv (>=15.0.3)", "wheel"]
[[package]]
name = "colorama"
version = "0.4.5"
@ -716,8 +738,8 @@ ssh = ["bcrypt (>=3.1.5)"]
test = ["hypothesis (>=1.11.4,!=3.79.2)", "iso8601", "pretend", "pytest (>=6.2.0)", "pytest-benchmark", "pytest-cov", "pytest-subtests", "pytest-xdist", "pytz"]
[[package]]
name = "cupy-cuda113"
version = "10.6.0"
name = "cupy-cuda11x"
version = "11.6.0"
description = "CuPy: NumPy & SciPy for GPU"
category = "dev"
optional = false
@ -725,12 +747,12 @@ python-versions = ">=3.7"
[package.dependencies]
fastrlock = ">=0.5"
numpy = ">=1.18,<1.25"
numpy = ">=1.20,<1.27"
[package.extras]
all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.4,<1.11)"]
all = ["Cython (>=0.29.22,<3)", "optuna (>=2.0)", "scipy (>=1.6,<1.12)"]
stylecheck = ["autopep8 (==1.5.5)", "flake8 (==3.8.4)", "mypy (==0.950)", "pbr (==5.5.1)", "pycodestyle (==2.6.0)", "types-setuptools (==57.4.14)"]
test = ["hypothesis (>=6.37.2)", "pytest (>=6.2)"]
test = ["hypothesis (>=6.37.2,<6.55.0)", "pytest (>=7.2)"]
[[package]]
name = "cycler"
@ -834,7 +856,7 @@ python-versions = "*"
name = "docutils"
version = "0.17.1"
description = "Docutils -- Python Documentation Utilities"
category = "dev"
category = "main"
optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
@ -1180,6 +1202,20 @@ monitor = ["psutil (>=5.7.0)"]
recommended = ["backports.socketpair", "cffi (>=1.12.2)", "dnspython (>=1.16.0,<2.0)", "idna", "psutil (>=5.7.0)", "selectors2"]
test = ["backports.socketpair", "cffi (>=1.12.2)", "contextvars (==2.4)", "coverage (>=5.0)", "coveralls (>=1.7.0)", "dnspython (>=1.16.0,<2.0)", "futures", "idna", "mock", "objgraph", "psutil (>=5.7.0)", "requests", "selectors2"]
[[package]]
name = "geventhttpclient"
version = "2.0.2"
description = "http client library for gevent"
category = "dev"
optional = false
python-versions = "*"
[package.dependencies]
brotli = "*"
certifi = "*"
gevent = ">=0.13"
six = "*"
[[package]]
name = "greenlet"
version = "1.1.3.post0"
@ -1354,7 +1390,7 @@ tifffile = ["tifffile"]
name = "imagesize"
version = "1.4.1"
description = "Getting image size from png/jpeg/jpeg2000/gif file"
category = "dev"
category = "main"
optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
@ -1898,6 +1934,14 @@ category = "main"
optional = false
python-versions = "*"
[[package]]
name = "lit"
version = "15.0.7"
description = "A Software Testing Tool"
category = "dev"
optional = false
python-versions = "*"
[[package]]
name = "lockfile"
version = "0.12.2"
@ -2586,7 +2630,7 @@ numpy = [
[package.source]
type = "url"
url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
[[package]]
name = "osmium"
@ -2659,6 +2703,23 @@ category = "dev"
optional = false
python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
[[package]]
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description = "Pythonic Pandoc filters"
category = "main"
optional = false
python-versions = ">=3.6"
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click = ">=6,<9"
pyyaml = ">=3,<7"
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extras = ["yamlloader (>=1,<2)"]
pypi = ["Pygments", "docutils", "twine", "wheel"]
[[package]]
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@ -3071,7 +3132,7 @@ python-versions = ">=3.6"
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version = "2.13.0"
description = "Pygments is a syntax highlighting package written in Python."
category = "dev"
category = "main"
optional = false
python-versions = ">=3.6"
@ -3339,6 +3400,14 @@ category = "dev"
optional = false
python-versions = "*"
[[package]]
name = "python-rapidjson"
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description = "Python wrapper around rapidjson"
category = "dev"
optional = false
python-versions = ">=3.6"
[[package]]
name = "python-socketio"
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@ -3374,7 +3443,7 @@ numpy = ["numpy (>=1.6.0)"]
name = "pytz"
version = "2022.5"
description = "World timezone definitions, modern and historical"
category = "dev"
category = "main"
optional = false
python-versions = "*"
@ -3662,6 +3731,27 @@ python-versions = ">=3.6"
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setuptools = "*"
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develop = false
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panflute = "*"
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sphinx = "*"
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@ -3840,7 +3930,7 @@ python-versions = ">=3.7"
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description = "This package provides 29 stemmers for 28 languages generated from Snowball algorithms."
category = "dev"
category = "main"
optional = false
python-versions = "*"
@ -3878,7 +3968,7 @@ python-versions = ">=3.6"
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category = "dev"
category = "main"
optional = false
python-versions = ">=3.6"
@ -3937,7 +4027,7 @@ sphinx = ">=1.2"
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category = "dev"
category = "main"
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python-versions = ">=3.5"
@ -3949,7 +4039,7 @@ test = ["pytest"]
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description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp document."
category = "dev"
category = "main"
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python-versions = ">=3.5"
@ -3961,7 +4051,7 @@ test = ["pytest"]
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category = "dev"
category = "main"
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@ -3973,7 +4063,7 @@ test = ["html5lib", "pytest"]
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category = "main"
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@ -3984,7 +4074,7 @@ test = ["flake8", "mypy", "pytest"]
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@ -3996,7 +4086,7 @@ test = ["pytest"]
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@ -4220,18 +4310,26 @@ python-versions = ">=3.6,<4.0"
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@ -4243,25 +4341,24 @@ python-versions = "*"
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@ -4302,16 +4399,41 @@ test = ["pre-commit", "pytest"]
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@ -4355,6 +4477,14 @@ python-versions = "*"
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category = "dev"
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@ -4567,7 +4697,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
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{file = "triton-2.0.0-1-cp37-cp37m-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:d2684b6a60b9f174f447f36f933e9a45f31db96cb723723ecd2dcfd1c57b778b"},
{file = "triton-2.0.0-1-cp38-cp38-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:9d4978298b74fcf59a75fe71e535c092b023088933b2f1df933ec32615e4beef"},
{file = "triton-2.0.0-1-cp39-cp39-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:74f118c12b437fb2ca25e1a04759173b517582fcf4c7be11913316c764213656"},
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{file = "triton-2.0.0-1-pp38-pypy38_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:1aca3303629cd3136375b82cb9921727f804e47ebee27b2677fef23005c3851a"},
{file = "triton-2.0.0-1-pp39-pypy39_pp73-manylinux2014_x86_64.manylinux_2_17_x86_64.whl", hash = "sha256:e3e13aa8b527c9b642e3a9defcc0fbd8ffbe1c80d8ac8c15a01692478dc64d8a"},
{file = "triton-2.0.0-cp310-cp310-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:8f05a7e64e4ca0565535e3d5d3405d7e49f9d308505bb7773d21fb26a4c008c2"},
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{file = "triton-2.0.0-pp38-pypy38_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:42a0d2c3fc2eab4ba71384f2e785fbfd47aa41ae05fa58bf12cb31dcbd0aeceb"},
{file = "triton-2.0.0-pp39-pypy39_pp73-manylinux_2_17_x86_64.manylinux2014_x86_64.whl", hash = "sha256:52c47b72c72693198163ece9d90a721299e4fb3b8e24fd13141e384ad952724f"},
]
tritonclient = [
{file = "tritonclient-2.28.0-py3-none-any.whl", hash = "sha256:1f58bbe09a88c35f7979de8ab6579a5337372951f723c0aba31e8bee3e8d79da"},
{file = "tritonclient-2.28.0-py3-none-manylinux1_x86_64.whl", hash = "sha256:47d93197a0876a743012db4c03f1100f7b225b9aaf8d5f8025bf4a5d9e61bfd2"},
]
types-atomicwrites = [
{file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
@ -8066,6 +8448,10 @@ types-requests = [
{file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"},
{file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"},
]
types-tabulate = [
{file = "types-tabulate-0.8.11.tar.gz", hash = "sha256:17a5fa3b5ca453815778fc9865e8ecd0118b07b2b9faff3e2b06fe448174dd5e"},
{file = "types_tabulate-0.8.11-py3-none-any.whl", hash = "sha256:af811268241e8fb87b63c052c87d1e329898a93191309d5d42111372232b2e0e"},
]
types-urllib3 = [
{file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"},
{file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"},

15
pyproject.toml
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@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
utm = "^0.7.0"
websocket_client = "^1.3.3"
polyline = "^1.4.0"
sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
[tool.poetry.group.dev.dependencies]
@ -83,7 +84,7 @@ mypy = "^0.961"
myst-parser = "^0.18.0"
natsort = "^8.1.0"
numpy = "^1.23.0"
opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu118/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl", platform = "linux" }
pandas = "^1.4.3"
parameterized = "^0.8.1"
paramiko = "^2.11.0"
@ -107,6 +108,7 @@ types-certifi = "^2021.10.8"
types-pycurl = "^7.45.1"
types-PyYAML = "^6.0"
types-requests = "^2.28.11"
types-tabulate = "^0.8.10"
[tool.poetry.group.xx]
@ -116,7 +118,7 @@ optional = true
aenum = "^3.1.11"
aiohttp = "^3.8.1"
albumentations = "^1.2.1"
apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" }
apex = { url = "https://github.com/commaai/apex/releases/download/pytorch2.0.0%2Bcu11.8/apex-0.1-cp38-cp38-linux_x86_64.whl" }
azure-cli-core = "^2.38.0"
azure-common = "^1.1.28"
azure-core = "^1.24.2"
@ -126,7 +128,7 @@ azure-storage-nspkg = "~3.1"
blosc = "==1.9.2"
cloudpickle = "^2.1.0"
configargparse = "^1.5.3"
cupy-cuda113 = "^10.6.0"
cupy-cuda11x = "^11.6.0"
datadog = "^0.44.0"
dotmap = "^1.3.30"
einops = "^0.5.0"
@ -165,14 +167,15 @@ scikit-learn = "^1.1.1"
segmentation-models-pytorch = "==0.2.1"
simplejson = "^3.17.6"
SQLAlchemy = "^1.4.39"
torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
torch = { url = "https://download.pytorch.org/whl/cu118/torch-2.0.0%2Bcu118-cp38-cp38-linux_x86_64.whl" }
torchsummary = "^1.5.1"
torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
triton = "^1.1.1"
torchvision = { url = "https://download.pytorch.org/whl/cu118/torchvision-0.15.1%2Bcu118-cp38-cp38-linux_x86_64.whl" }
triton = "^2.0.0"
Werkzeug = "^2.1.2"
zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
omegaconf = "^2.3.0"
osmnx = "==1.2.2"
tritonclient = {version = "2.28.0", extras = ["http"]}
[build-system]

81
release/files_common
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@ -219,14 +219,15 @@ system/hardware/pc/__init__.py
system/hardware/pc/hardware.h
system/hardware/pc/hardware.py
system/ubloxd/.gitignore
system/ubloxd/SConscript
system/ubloxd/generated/*
system/ubloxd/*.h
system/ubloxd/*.cc
selfdrive/locationd/__init__.py
selfdrive/locationd/.gitignore
selfdrive/locationd/SConscript
selfdrive/locationd/ubloxd.cc
selfdrive/locationd/ublox_msg.cc
selfdrive/locationd/ublox_msg.h
selfdrive/locationd/generated/*
selfdrive/locationd/.gitignore
selfdrive/locationd/laikad.py
selfdrive/locationd/locationd.h
selfdrive/locationd/locationd.cc
@ -253,35 +254,36 @@ system/proclogd/main.cc
system/proclogd/proclog.cc
system/proclogd/proclog.h
selfdrive/loggerd/.gitignore
selfdrive/loggerd/SConscript
selfdrive/loggerd/encoder/encoder.cc
selfdrive/loggerd/encoder/encoder.h
selfdrive/loggerd/encoder/v4l_encoder.cc
selfdrive/loggerd/encoder/v4l_encoder.h
selfdrive/loggerd/video_writer.cc
selfdrive/loggerd/video_writer.h
selfdrive/loggerd/logger.cc
selfdrive/loggerd/logger.h
selfdrive/loggerd/loggerd.cc
selfdrive/loggerd/loggerd.h
selfdrive/loggerd/encoderd.cc
selfdrive/loggerd/bootlog.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.cc
selfdrive/loggerd/encoder/ffmpeg_encoder.h
selfdrive/loggerd/__init__.py
selfdrive/loggerd/config.py
selfdrive/loggerd/uploader.py
selfdrive/loggerd/deleter.py
selfdrive/loggerd/xattr_cache.py
selfdrive/sensord/SConscript
selfdrive/sensord/sensors_qcom2.cc
selfdrive/sensord/sensors/*.cc
selfdrive/sensord/sensors/*.h
selfdrive/sensord/sensord
selfdrive/sensord/pigeond.py
system/loggerd/.gitignore
system/loggerd/SConscript
system/loggerd/encoder/encoder.cc
system/loggerd/encoder/encoder.h
system/loggerd/encoder/v4l_encoder.cc
system/loggerd/encoder/v4l_encoder.h
system/loggerd/video_writer.cc
system/loggerd/video_writer.h
system/loggerd/logger.cc
system/loggerd/logger.h
system/loggerd/loggerd.cc
system/loggerd/loggerd.h
system/loggerd/encoderd.cc
system/loggerd/bootlog.cc
system/loggerd/encoder/ffmpeg_encoder.cc
system/loggerd/encoder/ffmpeg_encoder.h
system/loggerd/__init__.py
system/loggerd/config.py
system/loggerd/uploader.py
system/loggerd/deleter.py
system/loggerd/xattr_cache.py
system/sensord/.gitignore
system/sensord/SConscript
system/sensord/sensors_qcom2.cc
system/sensord/sensors/*.cc
system/sensord/sensors/*.h
system/sensord/sensord
system/sensord/pigeond.py
selfdrive/thermald/thermald.py
selfdrive/thermald/power_monitoring.py
@ -577,13 +579,14 @@ opendbc/tesla_can.dbc
opendbc/tesla_radar.dbc
opendbc/tesla_powertrain.dbc
tinygrad_repo/accel/opencl/*
tinygrad_repo/tinygrad/llops/ops_opencl.py
tinygrad_repo/openpilot/compile.py
tinygrad_repo/extra/onnx.py
tinygrad_repo/extra/onnx_ops.py
tinygrad_repo/extra/thneed.py
tinygrad_repo/extra/utils.py
tinygrad_repo/tinygrad/llops/ops_gpu.py
tinygrad_repo/tinygrad/shape/*
tinygrad_repo/tinygrad/codegen/ast.py
tinygrad_repo/tinygrad/codegen/gpu.py
tinygrad_repo/tinygrad/nn/*
tinygrad_repo/tinygrad/runtime/ops_gpu.py
tinygrad_repo/tinygrad/shape/*
tinygrad_repo/tinygrad/*.py

2
release/files_tici
Unescape View File

@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
system/camerad/cameras/camera_util.h
system/camerad/cameras/real_debayer.cl
selfdrive/sensord/rawgps/*
system/sensord/rawgps/*
selfdrive/ui/qt/spinner_larch64
selfdrive/ui/qt/text_larch64

4
selfdrive/athena/athenad.py
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@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader
from common.params import Params
from common.realtime import sec_since_boot, set_core_affinity
from system.hardware import HARDWARE, PC, AGNOS
from selfdrive.loggerd.config import ROOT
from selfdrive.loggerd.xattr_cache import getxattr, setxattr
from system.loggerd.config import ROOT
from system.loggerd.xattr_cache import getxattr, setxattr
from selfdrive.statsd import STATS_DIR
from system.swaglog import SWAGLOG_DIR, cloudlog
from system.version import get_commit, get_origin, get_short_branch, get_version

34
selfdrive/boardd/boardd.cc
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@ -113,32 +113,35 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
return false;
}
// set to ELM327 for fingerprinting
// initialize to ELM327 without OBD multiplexing for fingerprinting
bool obd_multiplexing_enabled = false;
for (int i = 0; i < pandas.size(); i++) {
const uint16_t safety_param = (i > 0) ? 1U : 0U;
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
}
// wait for FW query at OBD port to finish
// openpilot can switch between multiplexing modes for different FW queries
while (true) {
if (do_exit || !check_all_connected(pandas) || !ignition) {
return false;
}
if (p.getBool("FirmwareObdQueryDone")) {
LOGW("finished FW query at OBD port");
bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
if (obd_multiplexing_requested != obd_multiplexing_enabled) {
for (int i = 0; i < pandas.size(); i++) {
const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
}
obd_multiplexing_enabled = obd_multiplexing_requested;
p.putBool("ObdMultiplexingChanged", true);
}
if (p.getBool("FirmwareQueryDone")) {
LOGW("finished FW query");
break;
}
util::sleep_for(20);
}
// set to ELM327 to finish fingerprinting and for potential ECU knockouts
for (Panda *panda : pandas) {
panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
}
p.putBool("ObdMultiplexingDisabled", true);
std::string params;
LOGW("waiting for params to set safety model");
while (true) {
@ -360,6 +363,8 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
}
auto ps = pss[i];
ps.setVoltage(health.voltage_pkt);
ps.setCurrent(health.current_pkt);
ps.setUptime(health.uptime_pkt);
ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
@ -381,6 +386,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
ps.setInterruptLoad(health.interrupt_load);
ps.setFanPower(health.fan_power);
ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
@ -415,7 +421,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
size_t j = 0;
for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) {
f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
if (fault_bits.test(f)) {
faults.set(j, cereal::PandaState::FaultType(f));
j++;

2
selfdrive/boardd/panda.cc
Unescape View File

@ -203,7 +203,7 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
assert(can_data.size() <= 64);
assert(can_data.size() == dlc_to_len[data_len_code]);
can_header header;
can_header header = {};
header.addr = cmsg.getAddress();
header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
header.data_len_code = data_len_code;

6
selfdrive/boardd/pandad.py
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@ -84,9 +84,9 @@ def main() -> NoReturn:
params.remove("PandaSignatures")
# Flash all Pandas in DFU mode
for p in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
PandaDFU(p).recover()
for serial in PandaDFU.list():
cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
PandaDFU(serial).recover()
time.sleep(1)
panda_serials = Panda.list()

38
selfdrive/boardd/set_time.py
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@ -1,11 +1,9 @@
#!/usr/bin/env python3
import datetime
import os
import struct
import usb1
import datetime
from panda import Panda
REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
MIN_DATE = datetime.datetime(year=2023, month=4, day=1)
def set_time(logger):
sys_time = datetime.datetime.today()
@ -14,24 +12,28 @@ def set_time(logger):
return
try:
ctx = usb1.USBContext()
dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
if dev is None:
logger.info("No panda found")
ps = Panda.list()
if len(ps) == 0:
logger.error("Failed to set time, no pandas found")
return
# Set system time from panda RTC time
dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
a = struct.unpack("HBBBBBB", dat)
panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'")
for s in ps:
with Panda(serial=s) as p:
if not p.is_internal():
continue
# Set system time from panda RTC time
panda_time = p.get_datetime()
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
if panda_time > MIN_DATE:
logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
os.system(f"TZ=UTC date -s '{panda_time}'")
break
except Exception:
logger.warn("Failed to fetch time from panda")
logger.exception("Failed to fetch time from panda")
if __name__ == "__main__":
import logging
logging.basicConfig(level=logging.INFO)
logging.basicConfig(level=logging.DEBUG)
set_time(logging)

5
selfdrive/boardd/spi.cc
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@ -57,9 +57,12 @@ PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
uint8_t uid[uid_len] = {0};
uint32_t spi_mode = SPI_MODE_0;
uint32_t spi_speed = 30000000;
uint8_t spi_bits_per_word = 8;
// 50MHz is the max of the 845. note that some older
// revs of the comma three may not support this speed
uint32_t spi_speed = 50000000;
spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
if (spi_fd < 0) {
LOGE("failed opening SPI device %d", spi_fd);

7
selfdrive/boardd/tests/test_boardd_loopback.py
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@ -40,8 +40,9 @@ class TestBoardd(unittest.TestCase):
sm.update(1000)
num_pandas = len(sm['pandaStates'])
if TICI:
self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
connect another panda for multipanda tests.")
# boardd blocks on CarVin and CarParams
cp = car.CarParams.new_message()
@ -51,7 +52,7 @@ class TestBoardd(unittest.TestCase):
cp.safetyConfigs = [safety_config]*num_pandas
params = Params()
params.put_bool("FirmwareObdQueryDone", True)
params.put_bool("FirmwareQueryDone", True)
params.put_bool("ControlsReady", True)
params.put("CarParams", cp.to_bytes())

48
selfdrive/boardd/tests/test_pandad.py
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@ -0,0 +1,48 @@
#!/usr/bin/env python3
import time
import unittest
import cereal.messaging as messaging
from panda import Panda
from selfdrive.test.helpers import phone_only
from selfdrive.manager.process_config import managed_processes
from system.hardware import HARDWARE
class TestPandad(unittest.TestCase):
def tearDown(self):
managed_processes['pandad'].stop()
def _wait_for_boardd(self, timeout=30):
sm = messaging.SubMaster(['peripheralState'])
for _ in range(timeout):
sm.update(1000)
if sm.updated['peripheralState']:
break
if not sm.updated['peripheralState']:
raise Exception("boardd failed to start")
@phone_only
def test_in_dfu(self):
HARDWARE.recover_internal_panda()
time.sleep(1)
managed_processes['pandad'].start()
self._wait_for_boardd(60)
@phone_only
def test_in_bootstub(self):
with Panda() as p:
p.reset(enter_bootstub=True)
assert p.bootstub
managed_processes['pandad'].start()
self._wait_for_boardd()
#def test_out_of_date_fw(self):
# pass
if __name__ == "__main__":
unittest.main()

15
selfdrive/car/car_helpers.py
Unescape View File

@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
from selfdrive.car.fw_versions import disable_obd_multiplexing, get_fw_versions_ordered, match_fw_to_car, get_present_ecus
from selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
from system.swaglog import cloudlog
import cereal.messaging as messaging
from selfdrive.car import gen_empty_fingerprint
@ -80,12 +80,13 @@ def fingerprint(logcan, sendcan, num_pandas):
fixed_fingerprint = os.environ.get('FINGERPRINT', "")
skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
ecu_rx_addrs = set()
params = Params()
if not skip_fw_query:
# Vin query only reliably works through OBDII
bus = 1
cached_params = Params().get("CarParamsCache")
cached_params = params.get("CarParamsCache")
if cached_params is not None:
cached_params = car.CarParams.from_bytes(cached_params)
if cached_params.carName == "mock":
@ -98,6 +99,7 @@ def fingerprint(logcan, sendcan, num_pandas):
cached = True
else:
cloudlog.warning("Getting VIN & FW versions")
set_obd_multiplexing(params, True)
vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
@ -113,10 +115,11 @@ def fingerprint(logcan, sendcan, num_pandas):
cloudlog.event("Malformed VIN", vin=vin, error=True)
vin = VIN_UNKNOWN
cloudlog.warning("VIN %s", vin)
params = Params()
params.put("CarVin", vin)
disable_obd_multiplexing(params)
# disable OBD multiplexing for potential ECU knockouts
set_obd_multiplexing(params, False)
params.put_bool("FirmwareQueryDone", True)
finger = gen_empty_fingerprint()
candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]} # attempt fingerprint on both bus 0 and 1
@ -180,7 +183,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
if candidate is None:
cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
candidate = "mock"
CarInterface, CarController, CarState = interfaces[candidate]

118
selfdrive/car/chrysler/values.py
Unescape View File

@ -50,6 +50,7 @@ class CarControllerParams:
self.STEER_DELTA_DOWN = 3
self.STEER_MAX = 261 # higher than this faults the EPS
STEER_THRESHOLD = 120
RAM_DT = {CAR.RAM_1500, }
@ -62,6 +63,7 @@ class ChryslerCarInfo(CarInfo):
package: str = "Adaptive Cruise Control (ACC)"
harness: Enum = Harness.fca
CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
CAR.PACIFICA_2018_HYBRID: None, # same platforms
@ -73,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
],
CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", harness=Harness.ram),
CAR.RAM_HD: [
ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
ChryslerCarInfo("Ram 3500 2019-22", harness=Harness.ram),
],
}
@ -99,7 +101,7 @@ FINGERPRINTS = {
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
},
{
55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
}],
CAR.PACIFICA_2020: [{
55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
@ -180,79 +182,153 @@ FW_QUERY_CONFIG = FwQueryConfig(
)
FW_VERSIONS = {
CAR.JEEP_CHEROKEE_2019: {
(Ecu.combinationMeter, 0x742, None): [
b'68402971AD',
],
(Ecu.srs, 0x744, None): [
b'68355363AB',
],
(Ecu.abs, 0x747, None): [
b'68408639AD',
],
(Ecu.fwdRadar, 0x753, None): [
b'68456722AC',
],
(Ecu.eps, 0x75A, None): [
b'68453431AA',
],
(Ecu.engine, 0x7e0, None): [
b'05035674AB ',
],
(Ecu.transmission, 0x7e1, None): [
b'05035707AA',
],
},
CAR.RAM_1500: {
(Ecu.combinationMeter, 0x742, None): [
b'68294063AH',
b'68294051AG',
b'68294051AI',
b'68294052AG',
b'68294063AG',
b'68294063AH',
b'68294063AI',
b'68434846AC',
b'68434858AC',
b'68434860AC',
b'68527375AD',
b'68453503AC',
b'68453505AC',
b'68453511AC',
b'68453513AD',
b'68453514AD',
b'68510283AG',
b'68527375AD',
],
(Ecu.srs, 0x744, None): [
b'68428609AB',
b'68441329AB',
b'68473844AB',
b'68490898AA',
b'68428609AB',
b'68500728AA',
b'68615033AA',
],
(Ecu.abs, 0x747, None): [
b'68432418AD',
b'68292406AH',
b'68432418AB',
b'68432418AD',
b'68436004AD',
b'68436004AE',
b'68438454AC',
b'68438454AD',
b'68436004AD',
b'68438456AE',
b'68438456AF',
b'68535469AB',
b'68438454AC',
b'68535470AC',
b'68586307AB',
],
(Ecu.fwdRadar, 0x753, None): [
b'68320950AL',
b'04672892AB',
b'04672932AB',
b'68320950AH',
b'68320950AI',
b'68320950AJ',
b'68320950AL',
b'68320950AM',
b'68454268AB',
b'68475160AG',
b'04672892AB',
b'68475160AE',
b'68475160AF',
b'68475160AG',
],
(Ecu.eps, 0x75A, None): [
b'68273275AF',
b'68273275AG',
b'68312176AE',
b'68312176AG',
b'68440789AC',
b'68466110AB',
b'68469901AA',
b'68522583AB',
b'68522585AB',
b'68552788AA',
b'68552790AA',
b'68585112AB',
],
(Ecu.engine, 0x7e0, None): [
b'05036065AE ',
b'05036066AE ',
b'68378701AI ',
b'68378758AM ',
b'68448163AJ',
b'68448165AK',
b'68500630AD',
b'68500630AE',
b'68539650AD',
b'68378758AM ',
],
(Ecu.transmission, 0x7e1, None): [
b'68360078AL',
b'68384328AD',
b'68360085AL',
b'68360080AM',
b'68360081AM',
b'68502994AD',
b'68360085AL',
b'68384328AD',
b'68384332AD',
b'68445533AB',
b'68540431AB',
b'68484467AC',
b'68502994AD',
b'68540431AB',
],
},
CAR.RAM_HD: {
(Ecu.combinationMeter, 0x742, None): [
b'68361606AH',
b'68437735AC',
b'68492693AD',
b'68525485AB',
b'68525487AB',
b'68525498AB',
],
(Ecu.srs, 0x744, None): [
b'68399794AC',
b'68428503AA',
b'68428505AA',
b'68428507AA',
],
(Ecu.abs, 0x747, None): [
b'68334977AH',
b'68455481AC',
b'68504022AA',
b'68504022AB',
b'68530686AB',
b'68504022AC',
b'68530686AB',
b'68530686AC',
],
(Ecu.fwdRadar, 0x753, None): [
b'04672895AB',
b'56029827AG',
b'56029827AH',
b'68462657AE',
b'68484694AD',
b'68484694AE',
],
(Ecu.eps, 0x761, None): [
@ -260,7 +336,13 @@ FW_VERSIONS = {
b'68507906AB',
],
(Ecu.engine, 0x7e0, None): [
b'52370131AF',
b'52370231AF',
b'52370231AG',
b'52370931CT',
b'52401032AE',
b'52421132AF',
b'68527616AD ',
b'M2370131MB',
b'M2421132MB',
],

12
selfdrive/car/docs_definitions.py
Unescape View File

@ -117,8 +117,20 @@ def split_name(name: str) -> Tuple[str, str, str]:
@dataclass
class CarInfo:
# make + model + model years
name: str
# Example for Toyota Corolla MY20
# requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
# US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
# the simplest description of the requirements for the US market
package: str
# the minimum compatibility requirements for this model, regardless
# of market. can be a package, trim, or list of features
requirements: Optional[str] = None
video_link: Optional[str] = None
footnotes: List[Enum] = field(default_factory=list)
min_steer_speed: Optional[float] = None

12
selfdrive/car/ecu_addrs.py
Unescape View File

@ -9,6 +9,8 @@ from selfdrive.car import make_can_msg
from selfdrive.boardd.boardd import can_list_to_can_capnp
from system.swaglog import cloudlog
EcuAddrBusType = Tuple[int, Optional[int], int]
def make_tester_present_msg(addr, bus, subaddr=None):
dat = [0x02, SERVICE_TYPE.TESTER_PRESENT, 0x0]
@ -33,16 +35,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
return False
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[Tuple[int, Optional[int], int]]:
def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
addr_list = [0x700 + i for i in range(256)] + [0x18da00f1 + (i << 8) for i in range(256)]
queries: Set[Tuple[int, Optional[int], int]] = {(addr, None, bus) for addr in addr_list}
queries: Set[EcuAddrBusType] = {(addr, None, bus) for addr in addr_list}
responses = queries
return get_ecu_addrs(logcan, sendcan, queries, responses, timeout=timeout, debug=debug)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[Tuple[int, Optional[int], int]],
responses: Set[Tuple[int, Optional[int], int]], timeout: float = 1, debug: bool = False) -> Set[Tuple[int, Optional[int], int]]:
ecu_responses: Set[Tuple[int, Optional[int], int]] = set() # set((addr, subaddr, bus),)
def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
ecu_responses: Set[EcuAddrBusType] = set() # set((addr, subaddr, bus),)
try:
msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]

6
selfdrive/car/ford/values.py
Unescape View File

@ -84,7 +84,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
FordCarInfo("Lincoln Aviator Plug-in Hybrid 2021", "Co-Pilot360 Plus"),
],
CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022", "Co-Pilot360 Assist"),
CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
}
FW_QUERY_CONFIG = FwQueryConfig(
@ -165,6 +165,7 @@ FW_VERSIONS = {
b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x760, None): [
b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -178,6 +179,7 @@ FW_VERSIONS = {
b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x7E0, None): [
b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -215,6 +217,7 @@ FW_VERSIONS = {
],
(Ecu.abs, 0x760, None): [
b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x764, None): [
b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -226,6 +229,7 @@ FW_VERSIONS = {
b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.shiftByWire, 0x732, None): [
b'NZ6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',

14
selfdrive/car/fw_query_definitions.py
Unescape View File

@ -1,5 +1,6 @@
#!/usr/bin/env python3
import capnp
import copy
from dataclasses import dataclass, field
import struct
from typing import Dict, List, Optional, Tuple
@ -57,10 +58,12 @@ class Request:
whitelist_ecus: List[int] = field(default_factory=list)
rx_offset: int = 0x8
bus: int = 1
# Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
auxiliary: bool = False
# FW responses from these queries will not be used for fingerprinting
logging: bool = False
# These requests are done once OBD multiplexing is disabled, after all others
non_obd: bool = False
# boardd toggles OBD multiplexing on/off as needed
obd_multiplexing: bool = True
@dataclass
@ -71,3 +74,10 @@ class FwQueryConfig:
non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
# Ecus added for data collection, not to be fingerprinted on
extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
def __post_init__(self):
for i in range(len(self.requests)):
if self.requests[i].auxiliary:
new_request = copy.deepcopy(self.requests[i])
new_request.bus += 4
self.requests.append(new_request)

90
selfdrive/car/fw_versions.py
Unescape View File

@ -1,12 +1,12 @@
#!/usr/bin/env python3
from collections import defaultdict
from typing import Any, Optional, Set, Tuple
from typing import Any, Dict, List, Set
from tqdm import tqdm
import panda.python.uds as uds
from cereal import car
from common.params import Params
from selfdrive.car.ecu_addrs import get_ecu_addrs
from selfdrive.car.ecu_addrs import EcuAddrBusType, get_ecu_addrs
from selfdrive.car.interfaces import get_interface_attr
from selfdrive.car.fingerprints import FW_VERSIONS
from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
@ -19,7 +19,7 @@ FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
def chunks(l, n=128):
@ -39,6 +39,8 @@ def build_fw_dict(fw_versions, filter_brand=None):
def get_brand_addrs():
brand_addrs = defaultdict(set)
for brand, cars in VERSIONS.items():
# Add ecus in database + extra ecus to match against
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
for fw in cars.values():
brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
return brand_addrs
@ -146,38 +148,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
return True, set()
def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[Tuple[int, Optional[int], int]]:
queries = list()
parallel_queries = list()
def get_present_ecus(logcan, sendcan, num_pandas=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()
for brand, r in REQUESTS:
for brand, config, r in REQUESTS:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
for brand_versions in VERSIONS[brand].values():
for ecu_type, addr, sub_addr in brand_versions:
for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
# Only query ecus in whitelist if whitelist is not empty
if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
a = (addr, sub_addr, r.bus)
# Build set of queries
if sub_addr is None:
if a not in parallel_queries:
parallel_queries.append(a)
if a not in parallel_queries[r.obd_multiplexing]:
parallel_queries[r.obd_multiplexing].append(a)
else: # subaddresses must be queried one by one
if [a] not in queries:
queries.append([a])
if [a] not in queries[r.obd_multiplexing]:
queries[r.obd_multiplexing].append([a])
# Build set of expected responses to filter
response_addr = uds.get_rx_addr_for_tx_addr(addr, r.rx_offset)
responses.add((response_addr, sub_addr, r.bus))
queries.insert(0, parallel_queries)
for obd_multiplexing in queries:
queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
ecu_responses = set()
for query in queries:
ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
for obd_multiplexing in queries:
set_obd_multiplexing(params, obd_multiplexing)
for query in queries[obd_multiplexing]:
ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
return ecu_responses
@ -185,9 +192,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
"""Returns dictionary of brands and matches with ECUs in their FW versions"""
brand_addrs = get_brand_addrs()
brand_matches = {brand: set() for brand, _ in REQUESTS}
brand_matches = {brand: set() for brand, _, _ in REQUESTS}
brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
brand_rx_offsets = set((brand, r.rx_offset) for brand, _, r in REQUESTS)
for addr, sub_addr, _ in ecu_rx_addrs:
# Since we can't know what request an ecu responded to, add matches for all possible rx offsets
for brand, rx_offset in brand_rx_offsets:
@ -198,13 +205,13 @@ def get_brand_ecu_matches(ecu_rx_addrs):
return brand_matches
def disable_obd_multiplexing(params):
if not params.get_bool("ObdMultiplexingDisabled"):
params.put_bool("FirmwareObdQueryDone", True)
cloudlog.warning("Waiting for OBD multiplexing to be disabled")
params.get_bool("ObdMultiplexingDisabled", block=True)
cloudlog.warning("OBD multiplexing disabled")
def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
params.remove("ObdMultiplexingChanged")
params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
params.get_bool("ObdMultiplexingChanged", block=True)
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):
@ -212,7 +219,6 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
all_car_fw = []
brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
matched_brand: Optional[str] = None
for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
@ -220,21 +226,14 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pand
# Try to match using FW returned from this brand only
matches = match_fw_to_car_exact(build_fw_dict(car_fw))
if len(matches) == 1:
matched_brand = brand
break
disable_obd_multiplexing(Params())
# Do non-OBD queries for matched brand, or all if no match is found
for brand in FW_QUERY_CONFIGS.keys():
if brand == matched_brand or matched_brand is None:
all_car_fw.extend(get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, obd_multiplexed=False, debug=debug, progress=progress))
return all_car_fw
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, obd_multiplexed=True, debug=False, progress=False):
def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
versions = VERSIONS.copy()
params = Params()
# Each brand can define extra ECUs to query for data collection
for brand, config in FW_QUERY_CONFIGS.items():
@ -250,19 +249,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# ECUs using a subaddress need be queried one by one, the rest can be done in parallel
addrs = []
parallel_addrs = []
logging_addrs = []
ecu_types = {}
for brand, brand_versions in versions.items():
for candidate, ecu in brand_versions.items():
for ecu in brand_versions.values():
for ecu_type, addr, sub_addr in ecu.keys():
a = (brand, addr, sub_addr)
if a not in ecu_types:
ecu_types[a] = ecu_type
if a not in logging_addrs and candidate == "debug":
logging_addrs.append(a)
if sub_addr is None:
if a not in parallel_addrs:
parallel_addrs.append(a)
@ -274,16 +269,17 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
# Get versions and build capnp list to put into CarParams
car_fw = []
requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
requests = [(brand, config, r) for brand, config, r in REQUESTS if query_brand is None or brand == query_brand]
for addr in tqdm(addrs, disable=not progress):
for addr_chunk in chunks(addr):
for brand, r in requests:
for brand, config, r in requests:
# Skip query if no panda available
if r.bus > num_pandas * 4 - 1:
continue
# Or if request is not designated for current multiplexing mode
elif r.non_obd == obd_multiplexed:
continue
# Toggle OBD multiplexing for each request
if r.bus % 4 == 1:
set_obd_multiplexing(params, r.obd_multiplexing)
try:
addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
@ -294,15 +290,15 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
for (tx_addr, sub_addr), version in query.get_data(timeout).items():
f = car.CarParams.CarFw.new_message()
ecu_key = (brand, tx_addr, sub_addr)
f.ecu = ecu_types.get(ecu_key, Ecu.unknown)
f.ecu = ecu_types.get((brand, tx_addr, sub_addr), Ecu.unknown)
f.fwVersion = version
f.address = tx_addr
f.responseAddress = uds.get_rx_addr_for_tx_addr(tx_addr, r.rx_offset)
f.request = r.request
f.brand = brand
f.bus = r.bus
f.logging = r.logging or ecu_key in logging_addrs
f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
f.obdMultiplexing = r.obd_multiplexing
if sub_addr is not None:
f.subAddress = sub_addr

40
selfdrive/car/gm/interface.py
Unescape View File

@ -1,13 +1,14 @@
#!/usr/bin/env python3
from cereal import car
from math import fabs
from math import fabs, exp
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, create_button_event, scale_tire_stiffness, get_safety_config
from selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
from selfdrive.controls.lib.drive_helpers import get_friction
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@ -44,6 +45,29 @@ class CarInterface(CarInterfaceBase):
else:
return CarInterfaceBase.get_steer_feedforward_default
@staticmethod
def torque_from_lateral_accel_bolt(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
def sig(val):
return 1 / (1 + exp(-val)) - 0.5
# The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
# An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
# This has big effect on the stability about 0 (noise when going straight)
# ToDo: To generalize to other GMs, explore tanh function as the nonlinear
a, b, c, _ = [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178] # weights computed offline
steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
return float(steer_torque) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
if self.CP.carFingerprint == CAR.BOLT_EUV:
return self.torque_from_lateral_accel_bolt
else:
return self.torque_from_lateral_accel_linear
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
ret.carName = "gm"
@ -74,11 +98,9 @@ class CarInterface(CarInterfaceBase):
# Tuning for experimental long
ret.longitudinalTuning.kpV = [2.0, 1.5]
ret.longitudinalTuning.kiV = [0.72]
ret.stopAccel = -2.0
ret.stoppingDecelRate = 2.0 # reach brake quickly after enabling
ret.vEgoStopping = 0.25
ret.vEgoStarting = 0.25
ret.longitudinalActuatorDelayUpperBound = 0.5
if experimental_long:
ret.pcmCruise = False
@ -113,6 +135,7 @@ class CarInterface(CarInterfaceBase):
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.mass = 1607. + STD_CARGO_KG
@ -148,7 +171,13 @@ class CarInterface(CarInterfaceBase):
ret.steerRatio = 14.4 # end to end is 13.46
ret.centerToFront = ret.wheelbase * 0.4
ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_acadia()
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
elif candidate == CAR.BUICK_LACROSSE:
ret.mass = 1712. + STD_CARGO_KG
ret.wheelbase = 2.91
ret.steerRatio = 15.8
ret.centerToFront = ret.wheelbase * 0.4 # wild guess
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.BUICK_REGAL:
ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG # (3849+3708)/2
@ -168,7 +197,6 @@ class CarInterface(CarInterfaceBase):
ret.wheelbase = 2.95 # 116 inches in meters
ret.steerRatio = 17.3
ret.centerToFront = ret.wheelbase * 0.5
ret.longitudinalActuatorDelayUpperBound = 0.5 # large delay to initially start braking
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.ESCALADE_ESV:

15
selfdrive/car/gm/values.py
Unescape View File

@ -14,8 +14,8 @@ class CarControllerParams:
STEER_STEP = 3 # Active control frames per command (~33hz)
INACTIVE_STEER_STEP = 10 # Inactive control frames per command (10hz)
STEER_DELTA_UP = 10 # Delta rates require review due to observed EPS weakness
STEER_DELTA_DOWN = 25
STEER_DRIVER_ALLOWANCE = 50
STEER_DELTA_DOWN = 15
STEER_DRIVER_ALLOWANCE = 65
STEER_DRIVER_MULTIPLIER = 4
STEER_DRIVER_FACTOR = 100
NEAR_STOP_BRAKE_PHASE = 0.5 # m/s
@ -66,6 +66,7 @@ class CAR:
CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
MALIBU = "CHEVROLET MALIBU PREMIER 2017"
ACADIA = "GMC ACADIA DENALI 2018"
BUICK_LACROSSE = "BUICK LACROSSE 2017"
BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
ESCALADE = "CADILLAC ESCALADE 2017"
ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
@ -100,16 +101,17 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
CAR.BOLT_EUV: [
GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
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"),
],
CAR.SILVERADO: [
GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
],
CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2020-22", "Adaptive Cruise Control & LKAS"),
@ -158,6 +160,11 @@ FINGERPRINTS = {
{
170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
}],
CAR.BUICK_LACROSSE: [
# LaCrosse Premium AWD 2017
{
190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
}],
CAR.BUICK_REGAL : [
# Regal TourX Essence w/ ACC 2018
{

10
selfdrive/car/honda/carcontroller.py
Unescape View File

@ -1,7 +1,6 @@
from collections import namedtuple
from cereal import car
from common.conversions import Conversions as CV
from common.numpy_fast import clip, interp
from common.realtime import DT_CTRL
from opendbc.can.packer import CANPacker
@ -117,6 +116,7 @@ class CarController:
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.stopping_counter = 0
self.accel = 0.0
self.speed = 0.0
@ -127,7 +127,8 @@ class CarController:
def update(self, CC, CS, now_nanos):
actuators = CC.actuators
hud_control = CC.hudControl
hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
pcm_cancel_cmd = CC.cruiseControl.cancel
if CC.longActive:
@ -161,7 +162,7 @@ class CarController:
can_sends = []
# tester present - w/ no response (keeps radar disabled)
if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
if self.frame % 10 == 0:
can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
@ -217,8 +218,9 @@ class CarController:
self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
stopping = actuators.longControlState == LongCtrlState.stopping
self.stopping_counter = self.stopping_counter + 1 if stopping else 0
can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
stopping, self.CP.carFingerprint))
self.stopping_counter, self.CP.carFingerprint))
else:
apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))

9
selfdrive/car/honda/carstate.py
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@ -5,7 +5,7 @@ from common.conversions import Conversions as CV
from common.numpy_fast import interp
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from selfdrive.car.honda.hondacan import get_pt_bus
from selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
from selfdrive.car.honda.values import CAR, DBC, STEER_THRESHOLD, HONDA_BOSCH, HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_ALT_BRAKE_SIGNAL, HONDA_BOSCH_RADARLESS
from selfdrive.car.interfaces import CarStateBase
@ -246,8 +246,7 @@ class CarState(CarStateBase):
ret.cruiseState.nonAdaptive = acc_hud["CRUISE_CONTROL_LABEL"] != 0
ret.cruiseState.standstill = acc_hud["CRUISE_SPEED"] == 252.
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
conversion = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
# On set, cruise set speed pulses between 254~255 and the set speed prev is set to avoid this.
ret.cruiseState.speed = self.v_cruise_pcm_prev if acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
self.v_cruise_pcm_prev = ret.cruiseState.speed
@ -294,7 +293,7 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
self.lkas_hud = cp_cam.vl["LKAS_HUD"]
if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
if self.CP.enableBsm:
# BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
# more info here: https://github.com/commaai/openpilot/pull/1867
ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@ -341,7 +340,7 @@ class CarState(CarStateBase):
@staticmethod
def get_body_can_parser(CP):
if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
if CP.enableBsm:
signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
("BSM_ALERT", "BSM_STATUS_LEFT")]

54
selfdrive/car/honda/hondacan.py
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@ -21,6 +21,11 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
return 0
def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
# on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
# TODO: do we loose pressure if we keep pump off for long?
brakelights = apply_brake > 0
@ -46,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
return packer.make_can_msg("BRAKE_COMMAND", bus, values)
def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
commands = []
bus = get_pt_bus(car_fingerprint)
min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@ -55,30 +60,39 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
gas_command = gas if active and accel > min_gas_accel else -30000
accel_command = accel if active else 0
braking = 1 if active and accel < min_gas_accel else 0
standstill = 1 if active and stopping else 0
standstill_release = 1 if active and not stopping else 0
standstill = 1 if active and stopping_counter > 0 else 0
standstill_release = 1 if active and stopping_counter == 0 else 0
# common ACC_CONTROL values
acc_control_values = {
# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
"CONTROL_ON": control_on,
"GAS_COMMAND": gas_command, # used for gas
"ACCEL_COMMAND": accel_command, # used for brakes
"BRAKE_LIGHTS": braking,
"BRAKE_REQUEST": braking,
"STANDSTILL": standstill,
"STANDSTILL_RELEASE": standstill_release,
'ACCEL_COMMAND': accel_command,
'STANDSTILL': standstill,
}
commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
acc_control_on_values = {
"SET_TO_3": 0x03,
"CONTROL_ON": enabled,
"SET_TO_FF": 0xff,
"SET_TO_75": 0x75,
"SET_TO_30": 0x30,
}
commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
if car_fingerprint in HONDA_BOSCH_RADARLESS:
acc_control_values.update({
"CONTROL_ON": enabled,
"IDLESTOP_ALLOW": stopping_counter > 200, # allow idle stop after 4 seconds (50 Hz)
})
else:
acc_control_values.update({
# setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
"CONTROL_ON": control_on,
"GAS_COMMAND": gas_command, # used for gas
"BRAKE_LIGHTS": braking,
"BRAKE_REQUEST": braking,
"STANDSTILL_RELEASE": standstill_release,
})
acc_control_on_values = {
"SET_TO_3": 0x03,
"CONTROL_ON": enabled,
"SET_TO_FF": 0xff,
"SET_TO_75": 0x75,
"SET_TO_30": 0x30,
}
commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
return commands

14
selfdrive/car/honda/interface.py
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@ -37,13 +37,11 @@ class CarInterface(CarInterfaceBase):
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
ret.radarUnavailable = True
if candidate not in HONDA_BOSCH_RADARLESS:
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
# If Bosch radarless, this blocks ACC messages from the camera
ret.experimentalLongitudinalAvailable = True
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
@ -75,6 +73,8 @@ class CarInterface(CarInterfaceBase):
ret.longitudinalTuning.kpV = [0.25]
ret.longitudinalTuning.kiV = [0.05]
ret.longitudinalActuatorDelayUpperBound = 0.5 # s
if candidate in HONDA_BOSCH_RADARLESS:
ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN # stock uses -4.0 m/s^2 once stopped but limited by safety model
else:
# default longitudinal tuning for all hondas
ret.longitudinalTuning.kpBP = [0., 5., 35.]

0
selfdrive/loggerd/__init__.py → selfdrive/car/honda/tests/__init__.py
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19
selfdrive/car/honda/values.py
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@ -116,13 +116,13 @@ class HondaCarInfo(CarInfo):
CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
CAR.ACCORD: [
HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
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),
],
CAR.ACCORDH: 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", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
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
@ -186,7 +186,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
[StdQueries.UDS_VERSION_RESPONSE],
bus=1,
logging=True,
non_obd=True,
obd_multiplexing=False,
),
],
extra_ecus=[
@ -1246,6 +1246,7 @@ FW_VERSIONS = {
b'37805-5YF-A750\x00\x00',
b'37805-5YF-A850\x00\x00',
b'37805-5YF-A870\x00\x00',
b'37805-5YF-AD20\x00\x00',
b'37805-5YF-C210\x00\x00',
b'37805-5YF-C220\x00\x00',
b'37805-5YF-C410\000\000',
@ -1254,16 +1255,20 @@ FW_VERSIONS = {
(Ecu.vsa, 0x18da28f1, None): [
b'57114-TJB-A030\x00\x00',
b'57114-TJB-A040\x00\x00',
b'57114-TJB-A120\x00\x00',
],
(Ecu.fwdRadar, 0x18dab0f1, None): [
b'36802-TJB-A040\x00\x00',
b'36802-TJB-A050\x00\x00',
b'36802-TJB-A540\x00\x00',
],
(Ecu.fwdCamera, 0x18dab5f1, None): [
b'36161-TJB-A040\x00\x00',
b'36161-TJB-A530\x00\x00',
],
(Ecu.shiftByWire, 0x18da0bf1, None): [
b'54008-TJB-A520\x00\x00',
b'54008-TJB-A530\x00\x00',
],
(Ecu.transmission, 0x18da1ef1, None): [
b'28102-5YK-A610\x00\x00',
@ -1271,6 +1276,7 @@ FW_VERSIONS = {
b'28102-5YK-A630\x00\x00',
b'28102-5YK-A700\x00\x00',
b'28102-5YK-A711\x00\x00',
b'28102-5YK-A800\x00\x00',
b'28102-5YL-A620\x00\x00',
b'28102-5YL-A700\x00\x00',
b'28102-5YL-A711\x00\x00',
@ -1282,6 +1288,7 @@ FW_VERSIONS = {
b'78109-TJB-AB10\x00\x00',
b'78109-TJB-AD10\x00\x00',
b'78109-TJB-AF10\x00\x00',
b'78109-TJB-AQ20\x00\x00',
b'78109-TJB-AR10\x00\x00',
b'78109-TJB-AS10\000\000',
b'78109-TJB-AU10\x00\x00',
@ -1293,22 +1300,26 @@ FW_VERSIONS = {
],
(Ecu.srs, 0x18da53f1, None): [
b'77959-TJB-A040\x00\x00',
b'77959-TJB-A120\x00\x00',
b'77959-TJB-A210\x00\x00',
],
(Ecu.electricBrakeBooster, 0x18da2bf1, None): [
b'46114-TJB-A040\x00\x00',
b'46114-TJB-A050\x00\x00',
b'46114-TJB-A060\x00\x00',
b'46114-TJB-A120\x00\x00',
],
(Ecu.gateway, 0x18daeff1, None): [
b'38897-TJB-A040\x00\x00',
b'38897-TJB-A110\x00\x00',
b'38897-TJB-A120\x00\x00',
b'38897-TJB-A220\x00\x00',
],
(Ecu.eps, 0x18da30f1, None): [
b'39990-TJB-A030\x00\x00',
b'39990-TJB-A040\x00\x00',
b'39990-TJB-A130\x00\x00'
b'39990-TJB-A070\x00\x00',
b'39990-TJB-A130\x00\x00',
],
},
CAR.RIDGELINE: {

0
selfdrive/loggerd/tests/__init__.py → selfdrive/car/hyundai/tests/__init__.py
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98
selfdrive/car/hyundai/values.py
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@ -166,17 +166,17 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i), # TODO: check packages
CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", video_link="https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", harness=Harness.hyundai_l),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
CAR.TUCSON: [
HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
],
CAR.PALISADE: [
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
],
CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
@ -198,10 +198,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", harness=Harness.hyundai_a),
CAR.KIA_NIRO_EV: [
HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
],
CAR.KIA_NIRO_PHEV: [
HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
@ -221,10 +221,10 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
CAR.KIA_SORENTO: [
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
],
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2022-23", harness=Harness.hyundai_k),
CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", harness=Harness.hyundai_k),
CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", harness=Harness.hyundai_a),
CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
@ -335,10 +335,15 @@ FINGERPRINTS = {
HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf100) # Long description
HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(0xf110) # Alt long description
HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
p16(0xf100)
HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
FW_QUERY_CONFIG = FwQueryConfig(
@ -355,22 +360,46 @@ FW_QUERY_CONFIG = FwQueryConfig(
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
),
# CAN-FD queries (camera)
# CAN-FD queries (from camera)
# TODO: combine shared whitelists with CAN requests
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
bus=4,
whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
bus=0,
auxiliary=True,
),
Request(
[HYUNDAI_VERSION_REQUEST_LONG],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
bus=5,
whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
bus=1,
auxiliary=True,
obd_multiplexing=False,
),
# CAN-FD debugging queries
Request(
[HYUNDAI_VERSION_REQUEST_ALT],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.parkingAdas],
bus=0,
auxiliary=True,
),
Request(
[HYUNDAI_VERSION_REQUEST_ALT],
[HYUNDAI_VERSION_RESPONSE],
whitelist_ecus=[Ecu.parkingAdas],
bus=1,
auxiliary=True,
obd_multiplexing=False,
),
],
extra_ecus=[
(Ecu.adas, 0x730, None), # ADAS Driving ECU on HDA2 platforms
(Ecu.parkingAdas, 0x7b1, None), # ADAS Parking ECU (may exist on all platforms)
(Ecu.hvac, 0x7b3, None), # HVAC Control Assembly
(Ecu.cornerRadar, 0x7b7, None),
],
)
@ -511,7 +540,6 @@ FW_VERSIONS = {
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.00 99110-L0000 ',
b'\xf1\x00DN8_ SCC FHCUP 1.00 1.01 99110-L1000 ',
b'\xf1\x00DN89110-L0000 \xaa\xaa\xaa\xaa\xaa\xaa\xaa ',
b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP 1.00 1.00 99110-L0000 ',
],
(Ecu.abs, 0x7d1, None): [
b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@ -520,6 +548,7 @@ FW_VERSIONS = {
b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@ -543,6 +572,7 @@ FW_VERSIONS = {
b'HM6M2_0a0_BD0',
b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
b'\xf1\x81HM6M1_0a0_G20',
],
(Ecu.eps, 0x7d4, None): [
@ -562,6 +592,7 @@ FW_VERSIONS = {
b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00DN8 MFC AT KOR LHD 1.00 1.02 99211-L1000 190422',
@ -1025,11 +1056,23 @@ FW_VERSIONS = {
],
},
CAR.GENESIS_G70: {
(Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ', ],
(Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
(Ecu.eps, 0x7d4, None): [b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
(Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920', ],
(Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00IK__ SCC F-CUP 1.00 1.02 96400-G9100 ',
b'\xf1\x00IK__ SCC F-CUP 1.00 1.01 96400-G9100 ',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00IK MDPS R 1.00 1.06 57700-G9420 4I4VL106',
],
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00IK MFC AT USA LHD 1.00 1.01 95740-G9000 170920',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54 E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
],
},
CAR.GENESIS_G70_2020: {
(Ecu.eps, 0x7d4, None): [
@ -1444,25 +1487,29 @@ FW_VERSIONS = {
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.05 99210-AA000 210930',
b'\xf1\000CN7HMFC AT USA LHD 1.00 1.03 99210-AA000 200819',
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.07 99210-AA000 220426',
b'\xf1\x00CN7HMFC AT USA LHD 1.00 1.08 99210-AA000 220728',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\000CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
b'\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP 1.00 1.01 99110-BY000 ',
],
(Ecu.eps, 0x7d4, None): [
b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
],
(Ecu.engine, 0x7e0, None): [
b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
]
},
CAR.KONA_HEV: {
@ -1552,6 +1599,8 @@ FW_VERSIONS = {
b'\xf1\x00CV1 MFC AT EUR LHD 1.00 1.06 99210-CV000 220328',
b'\xf1\x00CV1 MFC AT EUR RHD 1.00 1.00 99210-CV100 220630',
b'\xf1\x00CV1 MFC AT USA LHD 1.00 1.00 99210-CV100 220630',
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.04 99210-CV000 210823',
b'\xf1\x00CV1 MFC AT KOR LHD 1.00 1.06 99210-CV000 220328',
],
},
CAR.IONIQ_5: {
@ -1562,6 +1611,7 @@ FW_VERSIONS = {
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.02 99211-GI010 211206',
b'\xf1\x00NE1 MFC AT EUR LHD 1.00 1.06 99211-GI000 210813',
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.05 99211-GI010 220614',
b'\xf1\x00NE1 MFC AT KOR LHD 1.00 1.05 99211-GI010 220614',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT USA LHD 1.00 1.01 99211-GI010 211007',
b'\xf1\x00NE1 MFC AT EUR RHD 1.00 1.02 99211-GI010 211206',
@ -1570,9 +1620,11 @@ FW_VERSIONS = {
},
CAR.TUCSON_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00NX4__ 1.00 1.00 99110-N9100 ',
b'\xf1\x00NX4__ 1.01 1.00 99110-N9100 ',
],
},
@ -1628,6 +1680,7 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU100 211215',
b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.02 99211-CU000 211215',
b'\xf1\x00JW1 MFC AT USA LHD 1.00 1.03 99211-CU000 221118',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00JW1_ RDR ----- 1.00 1.00 99110-CU000 ',
@ -1636,14 +1689,17 @@ FW_VERSIONS = {
CAR.KIA_SORENTO_4TH_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.05 99210-R5000 210623',
b'\xf1\x00MQ4 MFC AT USA LHD 1.00 1.03 99210-R5000 200903',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00MQ4_ SCC FHCUP 1.00 1.06 99110-P2000 ',
b'\xf1\x00MQ4_ SCC F-CUP 1.00 1.06 99110-P2000 ',
],
},
CAR.KIA_NIRO_HEV_2ND_GEN: {
(Ecu.fwdCamera, 0x7c4, None): [
b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.08 99211-AT000 220531',
b'\xf1\x00SG2HMFC AT USA LHD 1.01 1.09 99211-AT000 220801',
],
(Ecu.fwdRadar, 0x7d0, None): [
b'\xf1\x00SG2_ RDR ----- 1.00 1.01 99110-AT000 ',

33
selfdrive/car/interfaces.py
Unescape View File

@ -8,10 +8,10 @@ from cereal import car
from common.basedir import BASEDIR
from common.conversions import Conversions as CV
from common.kalman.simple_kalman import KF1D
from common.numpy_fast import clip, interp
from common.numpy_fast import clip
from common.realtime import DT_CTRL
from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
from selfdrive.controls.lib.events import Events
from selfdrive.controls.lib.vehicle_model import VehicleModel
@ -64,6 +64,7 @@ class CarInterfaceBase(ABC):
self.frame = 0
self.steering_unpressed = 0
self.low_speed_alert = False
self.no_steer_warning = False
self.silent_steer_warning = True
self.v_ego_cluster_seen = False
@ -131,15 +132,11 @@ class CarInterfaceBase(ABC):
return self.get_steer_feedforward_default
@staticmethod
def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
def torque_from_lateral_accel_linear(lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
# The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
friction_interp = interp(
apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
[-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
[-torque_params.friction, torque_params.friction]
)
friction = friction_interp if friction_compensation else 0.0
return (lateral_accel_value / torque_params.latAccelFactor) + friction
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction
def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
return self.torque_from_lateral_accel_linear
@ -282,13 +279,19 @@ class CarInterfaceBase(ABC):
# Handle permanent and temporary steering faults
self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
if cs_out.steerFaultTemporary:
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
self.no_steer_warning = True
else:
events.add(EventName.steerTempUnavailable)
self.no_steer_warning = False
# if the user overrode recently, show a less harsh alert
if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
self.silent_steer_warning = True
events.add(EventName.steerTempUnavailableSilent)
else:
events.add(EventName.steerTempUnavailable)
else:
self.no_steer_warning = False
self.silent_steer_warning = False
if cs_out.steerFaultPermanent:
events.add(EventName.steerUnavailable)

8
selfdrive/car/isotp_parallel_query.py
Unescape View File

@ -60,7 +60,7 @@ class IsoTpParallelQuery:
return msgs
def _drain_rx(self):
messaging.drain_sock(self.logcan)
messaging.drain_sock_raw(self.logcan)
self.msg_buffer = defaultdict(list)
def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
@ -105,13 +105,14 @@ class IsoTpParallelQuery:
for tx_addr, msg in msgs.items():
try:
dat, updated = msg.recv()
dat, rx_in_progress = msg.recv()
except Exception:
cloudlog.exception(f"Error processing UDS response: {tx_addr}")
request_done[tx_addr] = True
continue
if updated:
# Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
if rx_in_progress:
response_timeouts[tx_addr] = time.monotonic() + timeout
if not dat:
@ -123,6 +124,7 @@ class IsoTpParallelQuery:
if response_valid:
if counter + 1 < len(self.request):
response_timeouts[tx_addr] = time.monotonic() + timeout
msg.send(self.request[counter + 1])
request_counter[tx_addr] += 1
else:

4
selfdrive/car/nissan/values.py
Unescape View File

@ -126,18 +126,22 @@ FW_VERSIONS = {
(Ecu.fwdCamera, 0x707, None): [
b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
],
(Ecu.abs, 0x740, None): [
b'476605SH1D',
b'476605SK2A',
b'476605SD2E',
],
(Ecu.eps, 0x742, None): [
b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
],
(Ecu.gateway, 0x18dad0f1, None): [
b'284U25SH3A',
b'284U25SK2D',
b'284U25SF0C',
],
},
CAR.XTRAIL: {

6
selfdrive/car/subaru/values.py
Unescape View File

@ -205,6 +205,7 @@ FW_VERSIONS = {
b'\xc5!dr\x07',
b'\xaa!aw\x07',
b'\xaa!av\x07',
b'\xaa\x01bt\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\xe3\xe5\x46\x31\x00',
@ -220,6 +221,7 @@ FW_VERSIONS = {
b'\xe4\xf5\002\000\000',
b'\xe3\xd0\x081\x00',
b'\xe3\xf5\x06\x00\x00',
b'\xe3\xd5\x161\x00',
],
},
CAR.IMPREZA_2020: {
@ -273,9 +275,11 @@ FW_VERSIONS = {
b'\xa3 \031\024\000',
b'\xa3 \x14\x01',
b'\xf1\x00\xbb\r\x05',
b'\xa3 \x18&\x00',
],
(Ecu.eps, 0x746, None): [
b'\x8d\xc0\x04\x00',
b'\x8d\xc0\x00\x00',
],
(Ecu.fwdCamera, 0x787, None): [
b'\x00\x00e!\x1f@ \x11',
@ -292,6 +296,7 @@ FW_VERSIONS = {
b'\xcb\"`p\a',
b'\xf1\x00\xa2\x10\n',
b'\xcf"`p\x07',
b'\xb6\xa2`A\x07',
],
(Ecu.transmission, 0x7e1, None): [
b'\032\xf6B0\000',
@ -299,6 +304,7 @@ FW_VERSIONS = {
b'\032\xf6b`\000',
b'\x1a\xf6B`\x00',
b'\x1a\xf6b0\x00',
b'\x1a\xe6B1\x00',
],
},
CAR.FORESTER_PREGLOBAL: {

5
selfdrive/car/tests/routes.py
Unescape View File

@ -27,6 +27,8 @@ non_tested_cars = [
HYUNDAI.KIA_OPTIMA_H,
HONDA.ODYSSEY_CHN,
VOLKSWAGEN.CRAFTER_MK2, # need a route from an ACC-equipped Crafter
TOYOTA.RAV4_TSS2_2023,
TOYOTA.RAV4H_TSS2_2023,
]
CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
@ -50,6 +52,7 @@ routes = [
CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
@ -183,6 +186,7 @@ routes = [
CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2), # openpilot longitudinal, with smartDSU
CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
@ -207,6 +211,7 @@ routes = [
CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),

12
selfdrive/car/tests/test_lateral_limits.py
Unescape View File

@ -10,7 +10,6 @@ from common.realtime import DT_CTRL
from selfdrive.car.car_helpers import interfaces
from selfdrive.car.fingerprints import all_known_cars
from selfdrive.car.interfaces import get_torque_params
from selfdrive.car.hyundai.values import CAR as HYUNDAI
CAR_MODELS = all_known_cars()
@ -22,14 +21,6 @@ MAX_LAT_ACCEL = 3.0 # m/s^2
# jerk is measured over half a second
JERK_MEAS_FRAMES = 0.5 / DT_CTRL
# TODO: update the max measured lateral accel for these cars
ABOVE_LIMITS_CARS = [
HYUNDAI.KONA_EV,
HYUNDAI.KONA_HEV,
HYUNDAI.KONA,
HYUNDAI.KONA_EV_2022,
]
car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
@ -52,9 +43,6 @@ class TestLateralLimits(unittest.TestCase):
if CP.notCar:
raise unittest.SkipTest
if CP.carFingerprint in ABOVE_LIMITS_CARS:
raise unittest.SkipTest
CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
cls.control_params = CarControllerParams(CP)
cls.torque_params = get_torque_params(cls.car_model)

4
selfdrive/car/torque_data/override.yaml
Unescape View File

@ -7,6 +7,10 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
NISSAN LEAF 2018: [.nan, 1.5, .nan]
NISSAN ROGUE 2019: [.nan, 1.5, .nan]
# Toyota LTA also has torque
TOYOTA RAV4 2023: [.nan, 3.0, .nan]
TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
# Tesla has high torque
TESLA AP1 MODEL S: [.nan, 2.5, .nan]
TESLA AP2 MODEL S: [.nan, 2.5, .nan]

2
selfdrive/car/torque_data/params.yaml
Unescape View File

@ -30,7 +30,7 @@ HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
HYUNDAI IONIQ ELECTRIC LIMITED 2019: [1.7662975472852054, 1.613755614526594, 0.17087579756306276]
HYUNDAI IONIQ PHEV 2020: [3.2928700076638537, 2.1193482926455656, 0.12463700961468778]
HYUNDAI IONIQ PLUG-IN HYBRID 2019: [2.970807902012267, 1.6312321830002083, 0.1088964990357482]
HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 3.2961956260770484, 0.12359762054065548]
HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
HYUNDAI PALISADE 2020: [2.544642494803999, 1.8721703683337008, 0.1301424599248651]
HYUNDAI SANTA FE 2019: [3.0787027729757632, 2.6173437483495565, 0.1207019341823945]
HYUNDAI SANTA FE HYBRID 2022: [3.501877602644835, 2.729064118456137, 0.10384068104538963]

2
selfdrive/car/torque_data/substitute.yaml
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@ -51,12 +51,14 @@ HONDA E 2020: HONDA CIVIC (BOSCH) 2019
HONDA ODYSSEY CHN 2019: HONDA ODYSSEY 2018
CHEVROLET TRAILBLAZER 2022: CHEVROLET VOLT PREMIER 2017
BUICK LACROSSE 2017: CHEVROLET VOLT PREMIER 2017
BUICK REGAL ESSENCE 2018: CHEVROLET VOLT PREMIER 2017
CADILLAC ESCALADE ESV 2016: CHEVROLET VOLT PREMIER 2017
CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017
SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN

5
selfdrive/car/toyota/carcontroller.py
Unescape View File

@ -76,6 +76,11 @@ class CarController:
apply_steer_req = 0
self.steer_rate_counter = 0
# Never actuate with LKA on cars that only support LTA
if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
apply_steer = 0
apply_steer_req = 0
# TODO: probably can delete this. CS.pcm_acc_status uses a different signal
# than CS.cruiseState.enabled. confirm they're not meaningfully different
if not CC.enabled and CS.pcm_acc_status:

12
selfdrive/car/toyota/carstate.py
Unescape View File

@ -115,7 +115,8 @@ class CarState(CarStateBase):
cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
# some TSS2 cars have low speed lockout permanently set, so ignore on those cars
@ -235,12 +236,17 @@ class CarState(CarStateBase):
checks.append(("BSM", 1))
if CP.carFingerprint in RADAR_ACC_CAR:
if not CP.flags & ToyotaFlags.SMART_DSU.value:
signals += [
("ACC_TYPE", "ACC_CONTROL"),
]
checks += [
("ACC_CONTROL", 33),
]
signals += [
("ACC_TYPE", "ACC_CONTROL"),
("FCW", "ACC_HUD"),
]
checks += [
("ACC_CONTROL", 33),
("ACC_HUD", 1),
]

35
selfdrive/car/toyota/interface.py
Unescape View File

@ -2,7 +2,8 @@
from cereal import car
from common.conversions import Conversions as CV
from panda import Panda
from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
from selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
@ -20,16 +21,22 @@ class CarInterface(CarInterfaceBase):
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
# BRAKE_MODULE is on a different address for these cars
if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
if candidate in ANGLE_CONTROL_CAR:
ret.dashcamOnly = True
ret.steerControlType = car.CarParams.SteerControlType.angle
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
else:
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
ret.steerActuatorDelay = 0.12 # Default delay, Prius has larger delay
ret.steerLimitTimer = 0.4
ret.stoppingControl = False # Toyota starts braking more when it thinks you want to stop
stop_and_go = False
steering_angle_deadzone_deg = 0.0
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
if candidate == CAR.PRIUS:
stop_and_go = True
@ -40,9 +47,8 @@ class CarInterface(CarInterfaceBase):
# 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':
steering_angle_deadzone_deg = 0.2
ret.steerActuatorDelay = 0.25
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
elif candidate == CAR.PRIUS_V:
stop_and_go = True
@ -102,7 +108,8 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor = 0.7983
ret.mass = 3505. * CV.LB_TO_KG + STD_CARGO_KG # mean between normal and hybrid
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
stop_and_go = True
ret.wheelbase = 2.68986
ret.steerRatio = 14.3
@ -194,14 +201,18 @@ class CarInterface(CarInterfaceBase):
tire_stiffness_factor=tire_stiffness_factor)
ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
# Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
smartDsu = 0x2FF in fingerprint[0]
# In TSS2 cars the camera does long control
# Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
if 0x2FF in fingerprint[0]:
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 smartDsu
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)
ret.enableGasInterceptor = 0x201 in fingerprint[0]
# if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
ret.openpilotLongitudinalControl = bool(ret.flags & ToyotaFlags.SMART_DSU) or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
if not ret.openpilotLongitudinalControl:

0
selfdrive/sensord/__init__.py → selfdrive/car/toyota/tests/__init__.py
Unescape View File

13
selfdrive/car/toyota/tests/test_toyota.py
Unescape View File

@ -0,0 +1,13 @@
#!/usr/bin/env python3
import unittest
from selfdrive.car.toyota.values import TSS2_CAR, ANGLE_CONTROL_CAR
class TestToyotaInterfaces(unittest.TestCase):
def test_angle_car_set(self):
self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
if __name__ == "__main__":
unittest.main()

2
selfdrive/car/toyota/toyotacan.py
Unescape View File

@ -17,7 +17,7 @@ def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
"SETME_X1": 1,
"SETME_X3": 3,
"PERCENTAGE": 100,
"SETME_X64": 0x64,
"SETME_X64": 0,
"ANGLE": 0,
"STEER_ANGLE_CMD": steer,
"STEER_REQUEST": steer_req,

112
selfdrive/car/toyota/values.py
Unescape View File

@ -33,6 +33,7 @@ class CarControllerParams:
class ToyotaFlags(IntFlag):
HYBRID = 1
SMART_DSU = 2
class CAR:
@ -67,8 +68,10 @@ class CAR:
RAV4H = "TOYOTA RAV4 HYBRID 2017"
RAV4_TSS2 = "TOYOTA RAV4 2019"
RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
MIRAI = "TOYOTA MIRAI 2021" # TSS 2.5
SIENNA = "TOYOTA SIENNA 2018"
@ -138,7 +141,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
CAR.PRIUS: [
ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"),
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"),
],
@ -152,19 +155,21 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
ToyotaCarInfo("Toyota RAV4 2017-18")
],
CAR.RAV4H: [
ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"),
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"),
CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
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),
# Lexus
CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
@ -172,7 +177,7 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
CAR.LEXUS_RX: [
ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
ToyotaCarInfo("Lexus RX 2017-19"),
@ -323,6 +328,7 @@ FW_VERSIONS = {
CAR.AVALON_TSS2: {
(Ecu.abs, 0x7b0, None): [
b'\x01F152607240\x00\x00\x00\x00\x00\x00',
b'\x01F152607250\x00\x00\x00\x00\x00\x00',
b'\x01F152607280\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
@ -330,6 +336,7 @@ FW_VERSIONS = {
],
(Ecu.engine, 0x700, None): [
b'\x01896630742000\x00\x00\x00\x00',
b'\x01896630743000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201200\x00\x00\x00\x00',
@ -527,14 +534,18 @@ FW_VERSIONS = {
CAR.CAMRY_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B33630\x00\x00\x00\x00\x00\x00',
b'8965B33640\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'\x01F152606370\x00\x00\x00\x00\x00\x00',
b'\x01F152606390\x00\x00\x00\x00\x00\x00',
b'\x01F152606400\x00\x00\x00\x00\x00\x00',
b'\x01F152606431\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x018966306Q5000\x00\x00\x00\x00',
b'\x018966306Q9000\x00\x00\x00\x00',
b'\x018966306R3000\x00\x00\x00\x00',
b'\x018966306T3100\x00\x00\x00\x00',
b'\x018966306T3200\x00\x00\x00\x00',
b'\x018966306T4000\x00\x00\x00\x00',
@ -542,12 +553,15 @@ FW_VERSIONS = {
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F6201200\x00\x00\x00\x00',
b'\x018821F6201300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
],
},
CAR.CAMRYH_TSS2: {
@ -716,22 +730,28 @@ FW_VERSIONS = {
],
},
CAR.CHRH_TSS2: {
(Ecu.eps, 0x7a1, None): [
b'8965B10092\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152610041\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x0189663F438000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 15): [
b'\x018821FF410500\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 109): [
b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
],
},
(Ecu.eps, 0x7a1, None): [
b'8965B10092\x00\x00\x00\x00\x00\x00',
b'8965B10091\x00\x00\x00\x00\x00\x00',
b'8965B10111\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152610041\x00\x00\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x0189663F438000\x00\x00\x00\x00',
b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 15): [
b'\x018821FF410500\x00\x00\x00\x00',
b'\x018821FF410300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 109): [
b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
],
},
CAR.COROLLA: {
(Ecu.engine, 0x7e0, None): [
b'\x0230ZC2000\x00\x00\x00\x00\x00\x00\x00\x0050212000\x00\x00\x00\x00\x00\x00\x00\x00',
@ -1090,6 +1110,7 @@ FW_VERSIONS = {
b'\x01F152648J4000\x00\x00\x00\x00',
b'\x01F152648J5000\x00\x00\x00\x00',
b'\x01F152648J6000\x00\x00\x00\x00',
b'\x01F15264872700\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896630E67000\x00\x00\x00\x00',
@ -1454,6 +1475,23 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AJ2000\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2: {
(Ecu.engine, 0x700, None): [
b'\x01896634A15000\x00\x00\x00\x00',
@ -1541,6 +1579,23 @@ FW_VERSIONS = {
b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
],
},
CAR.RAV4H_TSS2_2023: {
(Ecu.abs, 0x7b0, None): [
b'\x01F15264283200\x00\x00\x00\x00',
],
(Ecu.eps, 0x7a1, None): [
b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
],
(Ecu.engine, 0x700, None): [
b'\x01896634AE1001\x00\x00\x00\x00',
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F0R03100\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
],
},
CAR.SIENNA: {
(Ecu.engine, 0x700, None): [
b'\x01896630832100\x00\x00\x00\x00',
@ -1637,6 +1692,7 @@ FW_VERSIONS = {
b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
b'\x01896633T38000\x00\x00\x00\x00',
b'\x01896633T58000\x00\x00\x00\x00',
@ -1728,6 +1784,7 @@ FW_VERSIONS = {
b'\x018966378B2100\x00\x00\x00\x00',
b'\x018966378B3000\x00\x00\x00\x00',
b'\x018966378B4100\x00\x00\x00\x00',
b'\x018966378G2000\x00\x00\x00\x00',
b'\x018966378G3000\x00\x00\x00\x00',
b'\x018966378B2000\x00\x00\x00\x00',
],
@ -1750,6 +1807,7 @@ FW_VERSIONS = {
CAR.LEXUS_NXH_TSS2: {
(Ecu.engine, 0x7e0, None): [
b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
],
(Ecu.abs, 0x7b0, None): [
b'F152678210\x00\x00\x00\x00\x00\x00',
@ -1759,6 +1817,7 @@ FW_VERSIONS = {
],
(Ecu.fwdRadar, 0x750, 0xf): [
b'\x018821F3301400\x00\x00\x00\x00',
b'\x018821F3301300\x00\x00\x00\x00',
],
(Ecu.fwdCamera, 0x750, 0x6d): [
b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
@ -2095,6 +2154,7 @@ DBC = {
CAR.AVALONH_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.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@ -2105,6 +2165,7 @@ DBC = {
CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
CAR.LEXUS_NXH: dbc_dict('toyota_tnga_k_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'),
@ -2119,8 +2180,8 @@ DBC = {
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.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2,
CAR.MIRAI, CAR.LEXUS_NX_TSS2, CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
@ -2129,10 +2190,13 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
# these cars have a radar which sends ACC messages instead of the camera
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.CHR_TSS2, CAR.CHRH_TSS2}
RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
# these cars use the Lane Tracing Assist (LTA) message for lateral control
ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2, CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
# no resume button press required

10
selfdrive/car/volkswagen/carstate.py
Unescape View File

@ -228,13 +228,13 @@ class CarState(CarStateBase):
ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
if self.CP.pcmCruise:
ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
else:
ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
# Update ACC setpoint. When the setpoint reads as 255, the driver has not
# yet established an ACC setpoint, so treat it as zero.
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
ret.cruiseState.speed = 0
@ -516,12 +516,12 @@ class PqExtraSignals:
# Additional signal and message lists for optional or bus-portable controllers
fwd_radar_signals = [
("ACS_Typ_ACC", "ACC_System"), # Basic vs FtS (no SnG support on PQ)
("ACA_StaACC", "ACC_GRA_Anziege"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anziege"), # ACC set speed
("ACA_StaACC", "ACC_GRA_Anzeige"), # ACC drivetrain coordinator status
("ACA_V_Wunsch", "ACC_GRA_Anzeige"), # ACC set speed
]
fwd_radar_checks = [
("ACC_System", 50), # From J428 ACC radar control module
("ACC_GRA_Anziege", 25), # From J428 ACC radar control module
("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module
]
bsm_radar_signals = [
("SWA_Infostufe_SWA_li", "SWA_1"), # Blind spot object info, left

4
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase):
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266 + STD_CARGO_KG
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66

14
selfdrive/car/volkswagen/mqbcan.py
Unescape View File

@ -56,18 +56,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return acc_control_value(main_switch_on, acc_faulted, long_active)
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
acc_06_values = {
"ACC_Typ": acc_type,
"ACC_Status_ACC": acc_control,
"ACC_StartStopp_Info": enabled,
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_StartStopp_Info": acc_enabled,
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_zul_Regelabw_unten": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_zul_Regelabw_oben": 0.2, # TODO: dynamic adjustment of comfort-band
"ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0, # TODO: dynamic adjustment of jerk limits
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,
}
@ -84,9 +84,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
acc_07_values = {
"ACC_Anhalteweg": 0.75 if stopping else 20.46, # Distance to stop (stopping coordinator handles terminal roll-out)
"ACC_Freilauf_Info": 2 if enabled else 0,
"ACC_Freilauf_Info": 2 if acc_enabled else 0,
"ACC_Folgebeschl": 3.02, # Not using secondary controller accel unless and until we understand its impact
"ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
"ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
"ACC_Anforderung_HMS": acc_hold_type,
"ACC_Anfahren": starting,
"ACC_Anhalten": stopping,

19
selfdrive/car/volkswagen/pqcan.py
Unescape View File

@ -59,17 +59,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
return hud_status
def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
commands = []
values = {
"ACS_Sta_ADR": acc_control,
"ACS_StSt_Info": acc_control != 1,
"ACS_StSt_Info": acc_enabled,
"ACS_Typ_ACC": acc_type,
"ACS_Anhaltewunsch": acc_type == 1 and stopping,
"ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
"ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
"ACS_FreigSollB": acc_enabled,
"ACS_Sollbeschl": accel if acc_enabled else 3.01,
"ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
"ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
}
commands.append(packer.make_can_msg("ACC_System", bus, values))
@ -83,9 +84,9 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
"ACA_Zeitluecke": 2,
"ACA_V_Wunsch": set_speed,
"ACA_gemZeitl": lead_distance,
# TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
# display/display-prio handling probably needed to stop confusing the instrument cluster
# kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
"ACA_PrioDisp": 3,
# TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
# TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
}
return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)

51
selfdrive/car/volkswagen/values.py
Unescape View File

@ -36,7 +36,7 @@ class CarControllerParams:
if CP.carFingerprint in PQ_CARS:
self.LDW_STEP = 5 # LDW_1 message frequency 20Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anziege frequency 25Hz
self.ACC_HUD_STEP = 4 # ACC_GRA_Anzeige frequency 25Hz
self.STEER_DRIVER_ALLOWANCE = 80 # Driver intervention threshold 0.8 Nm
self.STEER_DELTA_UP = 6 # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
self.STEER_DELTA_DOWN = 10 # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@ -129,6 +129,7 @@ class CAR:
AUDI_Q3_MK2 = "AUDI Q3 2ND GEN" # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN" # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
SEAT_LEON_MK3 = "SEAT LEON 3RD GEN" # Chassis 5F, Mk3 SEAT Leon and variants
SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN" # Chassis PJ, Mk4 Skoda Fabia
SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN" # Chassis NW, Mk1 Skoda Kamiq
SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN" # Chassis NU, Mk1 Skoda Karoq
SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN" # Chassis NS, Mk1 Skoda Kodiaq
@ -239,9 +240,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
CAR.SKODA_OCTAVIA_MK3: [
@ -291,6 +293,7 @@ FW_VERSIONS = {
b'\xf1\x873G0906259N \xf1\x890004',
b'\xf1\x873G0906259P \xf1\x890001',
b'\xf1\x875NA907115H \xf1\x890002',
b'\xf1\x873G0906259G \xf1\x890004',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x8709G927158L \xf1\x893611',
@ -302,17 +305,19 @@ FW_VERSIONS = {
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x872Q0907572T \xf1\x890383',
b'\xf1\x875Q0907572J \xf1\x890654',
b'\xf1\x875Q0907572R \xf1\x890771',
],
},
CAR.ATLAS_MK1: {
@ -392,6 +397,7 @@ FW_VERSIONS = {
b'\xf1\x8704L906021DT\xf1\x895520',
b'\xf1\x8704L906021DT\xf1\x898127',
b'\xf1\x8704L906021N \xf1\x895518',
b'\xf1\x8704L906026BN\xf1\x891197',
b'\xf1\x8704L906026BP\xf1\x897608',
b'\xf1\x8704L906026NF\xf1\x899528',
b'\xf1\x8704L906056CL\xf1\x893823',
@ -512,6 +518,7 @@ FW_VERSIONS = {
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
@ -830,9 +837,11 @@ FW_VERSIONS = {
b'\xf1\x8705E906018AT\xf1\x899640',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300050J \xf1\x891911',
b'\xf1\x870CW300051M \xf1\x891925',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
],
(Ecu.eps, 0x712, None): [
@ -859,6 +868,7 @@ FW_VERSIONS = {
b'\xf1\x878V0906264B \xf1\x890003',
b'\xf1\x878V0907115B \xf1\x890007',
b'\xf1\x878V0907404A \xf1\x890005',
b'\xf1\x875G0906259D \xf1\x890002',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300044T \xf1\x895245',
@ -866,6 +876,7 @@ FW_VERSIONS = {
b'\xf1\x870D9300012 \xf1\x894912',
b'\xf1\x870D9300012 \xf1\x894931',
b'\xf1\x870D9300012K \xf1\x894513',
b'\xf1\x870D9300013B \xf1\x894902',
b'\xf1\x870D9300013B \xf1\x894931',
b'\xf1\x870D9300041N \xf1\x894512',
b'\xf1\x870D9300043T \xf1\x899699',
@ -903,11 +914,13 @@ FW_VERSIONS = {
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101',
b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
b'\xf1\x875Q0907572G \xf1\x890571',
b'\xf1\x875Q0907572H \xf1\x890620',
b'\xf1\x875Q0907572P \xf1\x890682',
@ -1009,6 +1022,23 @@ FW_VERSIONS = {
b'\xf1\x875Q0907572P \xf1\x890682',
],
},
CAR.SKODA_FABIA_MK4: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705E906018CF\xf1\x891905',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870CW300051M \xf1\x891936',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x872Q1909144S \xf1\x896042',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572AA\xf1\x890396',
],
},
CAR.SKODA_KAMIQ_MK1: {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8705C906032M \xf1\x891333',
@ -1052,32 +1082,43 @@ FW_VERSIONS = {
(Ecu.engine, 0x7e0, None): [
b'\xf1\x8704E906027DD\xf1\x893123',
b'\xf1\x8704L906026DE\xf1\x895418',
b'\xf1\x8704L906026EJ\xf1\x893661',
b'\xf1\x8704L906026HT\xf1\x893617',
b'\xf1\x8783A907115E \xf1\x890001',
b'\xf1\x8705E906018DJ\xf1\x890915',
b'\xf1\x875NA907115E \xf1\x890003',
b'\xf1\x875NA907115E \xf1\x890005',
],
(Ecu.transmission, 0x7e1, None): [
b'\xf1\x870D9300043 \xf1\x895202',
b'\xf1\x870DL300011N \xf1\x892014',
b'\xf1\x870DL300012M \xf1\x892107',
b'\xf1\x870DL300012N \xf1\x892110',
b'\xf1\x870DL300013G \xf1\x892119',
b'\xf1\x870GC300014N \xf1\x892801',
b'\xf1\x870GC300046Q \xf1\x892802',
],
(Ecu.srs, 0x715, None): [
b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
],
(Ecu.eps, 0x712, None): [
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
],
(Ecu.fwdRadar, 0x757, None): [
b'\xf1\x872Q0907572Q \xf1\x890342',
b'\xf1\x872Q0907572R \xf1\x890372',
b'\xf1\x872Q0907572T \xf1\x890383',
b'\xf1\x872Q0907572AA\xf1\x890396',
b'\xf1\x872Q0907572AB\xf1\x890397',
],
},
CAR.SKODA_OCTAVIA_MK3: {

3
selfdrive/controls/controlsd.py
Unescape View File

@ -112,9 +112,6 @@ class Controls:
if not self.disengage_on_accelerator:
self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
self.CP.dashcamOnly = False
# read params
self.is_metric = self.params.get_bool("IsMetric")
self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")

10
selfdrive/controls/lib/drive_helpers.py
Unescape View File

@ -190,3 +190,13 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
current_curvature_desired + max_curvature_rate * DT_MDL)
return safe_desired_curvature, safe_desired_curvature_rate
def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float, torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
friction_interp = interp(
apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
[-friction_threshold, friction_threshold],
[-torque_params.friction, torque_params.friction]
)
friction = float(friction_interp) if friction_compensation else 0.0
return friction

9
selfdrive/controls/lib/events.py
Unescape View File

@ -658,6 +658,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
},
EventName.steerTimeLimit: {
ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
},
EventName.outOfSpace: {
ET.PERMANENT: out_of_space_alert,
ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
@ -811,10 +816,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
},
EventName.accFaultedTemp: {
ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
},
EventName.controlsMismatch: {
ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Controls Mismatch"),
ET.NO_ENTRY: NoEntryAlert("Controls Mismatch"),

6
selfdrive/controls/lib/latcontrol_torque.py
Unescape View File

@ -61,10 +61,12 @@ class LatControlTorque(LatControl):
low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
measurement = actual_lateral_accel + low_speed_factor * actual_curvature
error = setpoint - measurement
gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint,
lateral_accel_deadzone, friction_compensation=False)
torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement,
lateral_accel_deadzone, friction_compensation=False)
pid_log.error = torque_from_setpoint - torque_from_measurement
ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
desired_lateral_accel - actual_lateral_accel,
lateral_accel_deadzone, friction_compensation=True)

1
selfdrive/controls/plannerd.py
Unescape View File

@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
ui_send = messaging.new_message('uiPlan')
ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
uiPlan = ui_send.uiPlan
uiPlan.frameId = sm['modelV2'].frameId
uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()

5
selfdrive/controls/tests/test_startup.py
Unescape View File

@ -72,7 +72,6 @@ class TestStartup(unittest.TestCase):
params.clear_all()
params.put_bool("Passive", False)
params.put_bool("OpenpilotEnabledToggle", True)
params.put_bool("ObdMultiplexingDisabled", True)
# Build capnn version of FW array
if fw_versions is not None:
@ -109,6 +108,10 @@ class TestStartup(unittest.TestCase):
finger = _FINGERPRINTS[car_model][0]
for _ in range(1000):
# controlsd waits for boardd to echo back that it has changed the multiplexing mode
if not params.get_bool("ObdMultiplexingChanged"):
params.put_bool("ObdMultiplexingChanged", True)
msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
pm.send('can', can_list_to_can_capnp(msgs))

3
selfdrive/debug/hyundai_enable_radar_points.py
Unescape View File

@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = {
b"DN8_ SCC FHCUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues(
default_config=b"\x00\x00\x00\x01\x00\x00",
tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
b"DN8_ SCC F-CUP 1.00 1.00 99110-L0000\x19\x08)\x15T ": ConfigValues(
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 1.02 99110-L5000 \x01#\x15# ": ConfigValues(
default_config=b"\x00\x00\x00\x01\x00\x00",

43
selfdrive/debug/internal/check_frame_frequencies.py
Unescape View File

@ -0,0 +1,43 @@
#!/usr/bin/env python3
import time
import statistics
import cereal.messaging as messaging
from typing import Dict
camera_states = [
'roadCameraState',
'wideRoadCameraState',
'driverCameraState'
]
def fmt(val):
ref = 0.05
return f"{val:.6f} ({100 * val / ref:.2f}%)"
if __name__ == "__main__":
sm = messaging.SubMaster(camera_states)
prev_sof = {state: None for state in camera_states}
diffs: Dict[str, list] = {state: [] for state in camera_states}
st = time.monotonic()
while True:
sm.update()
for state in camera_states:
if sm.updated[state]:
if prev_sof[state] is not None:
diffs[state].append((sm[state].timestampSof - prev_sof[state]) / 1e9)
prev_sof[state] = sm[state].timestampSof
if time.monotonic() - st > 10:
for state in camera_states:
values = diffs[state]
ref = 0.05
print(f"{state} \tMean: {fmt(statistics.mean(values))} \t Min: {fmt(min(values))} \t Max: {fmt(max(values))} \t Std: {statistics.stdev(values):.6f} \t Num frames: {len(values)}")
diffs[state] = []
print()
st = time.monotonic()

4
selfdrive/debug/profiling/watch-irqs.sh
Unescape View File

@ -0,0 +1,4 @@
#!/usr/bin/bash
set -e
RUBYOPT="-W0" irqtop -d1 -R

3
selfdrive/locationd/.gitignore vendored
Unescape View File

@ -1,6 +1,3 @@
ubloxd
ubloxd_test
params_learner
paramsd
locationd
test/test_glonass_runner

19
selfdrive/locationd/SConscript
Unescape View File

@ -1,20 +1,6 @@
Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
if GetOption('kaitai'):
generated = Dir('generated').srcnode().abspath
cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
# kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
env.Depends(patch, glonass)
glonass_obj = env.Object('generated/glonass.cpp')
env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp", glonass_obj], LIBS=loc_libs)
loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@ -26,6 +12,3 @@ lenv.Depends(locationd, libkf)
if File("liblocationd.cc").exists():
liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
lenv.Depends(liblocationd, libkf)
if GetOption('test'):
env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])

327
selfdrive/locationd/laikad.py
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@ -1,5 +1,4 @@
#!/usr/bin/env python3
import json
import math
import os
import time
@ -8,7 +7,7 @@ from collections import defaultdict
from concurrent.futures import Future, ProcessPoolExecutor
from datetime import datetime
from enum import IntEnum
from typing import List, Optional
from typing import List, Optional, Dict, Any
import numpy as np
@ -17,9 +16,9 @@ from common.params import Params, put_nonblocking
from laika import AstroDog
from laika.constants import SECS_IN_HR, SECS_IN_MIN
from laika.downloader import DownloadFailed
from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_gps_ephem, convert_ublox_glonass_ephem, parse_qcom_ephem
from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
from laika.gps_time import GPSTime
from laika.helpers import ConstellationId
from laika.helpers import ConstellationId, get_sv_id
from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
@ -28,15 +27,53 @@ from selfdrive.locationd.models.gnss_kf import States as GStates
from system.swaglog import cloudlog
MAX_TIME_GAP = 10
EPHEMERIS_CACHE = 'LaikadEphemerisV2'
EPHEMERIS_CACHE = 'LaikadEphemerisV3'
DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
CACHE_VERSION = 0.2
POS_FIX_RESIDUAL_THRESHOLD = 100.0
class LogEphemerisType(IntEnum):
nav = 0
nasaUltraRapid = 1
glonassIacUltraRapid = 2
qcom = 3
class EphemerisSource(IntEnum):
gnssChip = 0
internet = 1
cache = 2
unknown = 3
def get_log_eph_type(ephem):
if ephem.eph_type == EphemerisType.NAV:
source_type = LogEphemerisType.nav
elif ephem.eph_type == EphemerisType.QCOM_POLY:
source_type = LogEphemerisType.qcom
else:
assert ephem.file_epoch is not None
file_src = ephem.file_source
if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z'
source_type = LogEphemerisType.nasaUltraRapid
elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
source_type = LogEphemerisType.glonassIacUltraRapid
else:
raise Exception(f"Didn't expect file source {file_src}")
return source_type
def get_log_eph_source(ephem):
if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
source = EphemerisSource.gnssChip
elif ephem.file_name == EPHEMERIS_CACHE:
source = EphemerisSource.cache
else:
source = EphemerisSource.internet
return source
class Laikad:
def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_navs=True, auto_update=False,
valid_ephem_types=(EphemerisType.NAV,),
def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
save_ephemeris=False, use_qcom=False):
"""
valid_const: GNSS constellation which can be used
@ -51,10 +88,11 @@ class Laikad:
self.auto_fetch_navs = auto_fetch_navs
self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
self.orbit_fetch_future: Optional[Future] = None
self.last_fetch_navs_t = None
self.got_first_gnss_msg = False
self.last_cached_t = None
self.last_report_time = GPSTime(0, 0)
self.last_fetch_navs_t = GPSTime(0, 0)
self.last_cached_t = GPSTime(0, 0)
self.save_ephemeris = save_ephemeris
self.load_cache()
@ -64,36 +102,58 @@ class Laikad:
self.last_fix_t = None
self.gps_week = None
self.use_qcom = use_qcom
self.first_log_time = None
self.ttff = -1
def load_cache(self):
if not self.save_ephemeris:
return
cache = Params().get(EPHEMERIS_CACHE)
if not cache:
cache_bytes = Params().get(EPHEMERIS_CACHE)
if not cache_bytes:
return
nav_dict = {}
try:
cache = json.loads(cache, object_hook=deserialize_hook)
if cache['version'] == CACHE_VERSION:
self.astro_dog.add_navs(cache['navs'])
self.last_fetch_navs_t = cache['last_fetch_navs_t']
else:
cache['navs'] = {}
except json.decoder.JSONDecodeError:
ephem_cache = ephemeris_structs.EphemerisCache.from_bytes(cache_bytes)
glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
for e in sum([glonass_navs, gps_navs], []):
if e.prn not in nav_dict:
nav_dict[e.prn] = []
nav_dict[e.prn].append(e)
self.astro_dog.add_navs(nav_dict)
except Exception:
cloudlog.exception("Error parsing cache")
timestamp = self.last_fetch_navs_t.as_datetime() if self.last_fetch_navs_t is not None else 'Nan'
cloudlog.debug(
f"Loaded navs ({sum([len(v) for v in cache['navs']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['navs'].keys())} " +
f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.navs_fetched_times._ranges]}")
def cache_ephemeris(self, t: GPSTime):
if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
put_nonblocking(EPHEMERIS_CACHE, json.dumps(
{'version': CACHE_VERSION, 'last_fetch_navs_t': self.last_fetch_navs_t, 'navs': self.astro_dog.navs},
cls=CacheSerializer))
f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
def cache_ephemeris(self):
if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
ephem_cache = ephemeris_structs.EphemerisCache(**{'glonassEphemerides': [e.data for e in nav_list if e.prn[0]=='R'],
'gpsEphemerides': [e.data for e in nav_list if e.prn[0]=='G']})
put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
cloudlog.debug("Cache saved")
self.last_cached_t = t
self.last_cached_t = self.last_report_time
def create_ephem_statuses(self):
ephemeris_statuses = []
prns_to_check = list(self.astro_dog.get_all_ephem_prns())
prns_to_check.sort()
for prn in prns_to_check:
eph = self.astro_dog.get_eph(prn, self.last_report_time)
if eph is not None:
status = log.GnssMeasurements.EphemerisStatus.new_message()
status.constellationId = ConstellationId.from_rinex_char(prn[0]).value
status.svId = get_sv_id(prn)
status.type = get_log_eph_type(eph).value
status.source = get_log_eph_source(eph).value
ephemeris_statuses.append(status)
return ephemeris_statuses
def get_lsq_fix(self, t, measurements):
if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
@ -121,8 +181,15 @@ class Laikad:
def is_good_report(self, gnss_msg):
if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
# TODO support GLONASS
return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
# TODO: Understand and use remaining unknown constellations
try:
good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
except NotImplementedError:
good_constellation = False
# gpsWeek 65535 is received rarely from quectel, this cannot be
# passed to GnssMeasurements's gpsWeek (Int16)
good_week = not getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max
return good_constellation and good_week
elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
return True
else:
@ -139,6 +206,7 @@ class Laikad:
week = report.gpsWeek
tow = report.rcvTow
new_meas = read_raw_ublox(report)
self.last_report_time = GPSTime(week, tow)
return week, tow, new_meas
def is_ephemeris(self, gnss_msg):
@ -152,29 +220,47 @@ class Laikad:
# TODO this is not robust to gps week rollover
if self.gps_week is None:
return
ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
try:
ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
except Exception:
cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
return
else:
if gnss_msg.which() == 'ephemeris':
ephem = convert_ublox_gps_ephem(gnss_msg.ephemeris)
data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
try:
ephem = GPSEphemeris(data_struct, file_name='ublox')
except Exception:
cloudlog.exception("Error parsing GPS ephemeris from ublox")
return
elif gnss_msg.which() == 'glonassEphemeris':
ephem = convert_ublox_glonass_ephem(gnss_msg.glonassEphemeris)
data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
try:
ephem = GLONASSEphemeris(data_struct, file_name='ublox')
except Exception:
cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
return
else:
cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
return
self.astro_dog.add_navs({ephem.prn: [ephem]})
self.cache_ephemeris(t=ephem.epoch)
self.astro_dog.add_navs({ephem.prn: [ephem]})
self.cache_ephemeris()
def process_report(self, new_meas, t):
# Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
processed_measurements = process_measurements(new_meas, self.astro_dog)
if self.last_fix_pos is not None:
corrected_measurements = correct_measurements(processed_measurements, self.last_fix_pos, self.astro_dog)
instant_fix = self.get_lsq_fix(t, corrected_measurements)
#instant_fix = self.get_lsq_fix(t, processed_measurements)
est_pos = self.last_fix_pos
else:
corrected_measurements = []
instant_fix = self.get_lsq_fix(t, processed_measurements)
est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog)
return corrected_measurements
def calc_fix(self, t, measurements):
instant_fix = self.get_lsq_fix(t, measurements)
if instant_fix is None:
return None
else:
@ -182,60 +268,53 @@ class Laikad:
self.last_fix_t = t
self.last_fix_pos = position_estimate
self.lat_fix_pos_std = position_std
if (t*1e9) % 10 == 0:
cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
return position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, processed_measurements
return position_estimate, position_std, velocity_estimate, velocity_std
def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
out_msg = messaging.new_message("gnssMeasurements")
t = gnss_mono_time * 1e-9
msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time}
if self.first_log_time is None:
self.first_log_time = 1e-9 * gnss_mono_time
if self.is_ephemeris(gnss_msg):
self.read_ephemeris(gnss_msg)
return None
elif self.is_good_report(gnss_msg):
week, tow, new_meas = self.read_report(gnss_msg)
self.gps_week = week
if len(new_meas) == 0:
return None
t = gnss_mono_time * 1e-9
if week > 0:
self.got_first_gnss_msg = True
latest_msg_t = GPSTime(week, tow)
if self.auto_fetch_navs:
self.fetch_navs(latest_msg_t, block)
output = self.process_report(new_meas, t)
if output is None:
return None
position_estimate, position_std, velocity_estimate, velocity_std, corrected_measurements, _ = output
corrected_measurements = self.process_report(new_meas, t)
msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
self.update_localizer(position_estimate, t, corrected_measurements)
meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
msg = messaging.new_message("gnssMeasurements")
fix = self.calc_fix(t, corrected_measurements)
measurement_msg = log.LiveLocationKalman.Measurement.new_message
if fix is not None:
position_estimate, position_std, velocity_estimate, velocity_std = fix
if self.ttff <= 0:
self.ttff = max(1e-3, t - self.first_log_time)
msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
self.update_localizer(self.last_fix_pos, t, corrected_measurements)
P_diag = self.gnss_kf.P.diagonal()
kf_valid = all(self.kf_valid(t))
msg.gnssMeasurements = {
"gpsWeek": week,
"gpsTimeOfWeek": tow,
"kalmanPositionECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
valid=kf_valid),
"kalmanVelocityECEF": measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
valid=kf_valid)
msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
valid=kf_valid),
"positionECEF": measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t)),
"velocityECEF": measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t)),
"measTime": gnss_mono_time,
"correctedMeasurements": meas_msgs
}
return msg
#elif gnss_msg.which() == 'ionoData':
# TODO: add this, Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
valid=kf_valid)
msg_dict['gpsWeek'] = self.last_report_time.week
msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
msg_dict['timeToFirstFix'] = self.ttff
msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
out_msg.gnssMeasurements = msg_dict
return out_msg
def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
# Check time and outputs are valid
@ -247,7 +326,7 @@ class Laikad:
cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
elif not valid[2]:
cloudlog.error("Gnss kalman filter state is nan")
if len(est_pos) > 0:
if est_pos is not None and len(est_pos) > 0:
cloudlog.info(f"Reset kalman filter with {est_pos}")
self.init_gnss_localizer(est_pos)
else:
@ -272,7 +351,7 @@ class Laikad:
def fetch_navs(self, t: GPSTime, block):
# Download new navs if 1 hour of navs data left
if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (self.last_fetch_navs_t is None or abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
ret = None
@ -290,7 +369,7 @@ class Laikad:
self.last_fetch_navs_t = ret[2]
else:
self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
self.cache_ephemeris(t=t)
self.cache_ephemeris()
def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
@ -320,31 +399,8 @@ def create_measurement_msg(meas: GNSSMeasurement):
c.satPos = meas.sat_pos_final.tolist()
c.satVel = meas.sat_vel.tolist()
c.satVel = meas.sat_vel.tolist()
ephem = meas.sat_ephemeris
assert ephem is not None
week, time_of_week = -1, -1
if ephem.eph_type == EphemerisType.NAV:
source_type = EphemerisSourceType.nav
elif ephem.eph_type == EphemerisType.QCOM_POLY:
source_type = EphemerisSourceType.qcom
else:
assert ephem.file_epoch is not None
week = ephem.file_epoch.week
time_of_week = ephem.file_epoch.tow
file_src = ephem.file_source
if file_src == 'igu': # example nasa: '2214/igu22144_00.sp3.Z'
source_type = EphemerisSourceType.nasaUltraRapid
elif file_src == 'Sta': # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
source_type = EphemerisSourceType.glonassIacUltraRapid
else:
raise Exception(f"Didn't expect file source {file_src}")
c.ephemerisSource.type = source_type.value
c.ephemerisSource.gpsWeek = week
c.ephemerisSource.gpsTimeOfWeek = int(time_of_week)
return c
def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
ekf_data = defaultdict(list)
for m in measurements:
@ -360,69 +416,29 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
gnss_kf.predict_and_observe(t, kind, data)
class CacheSerializer(json.JSONEncoder):
def default(self, o):
if isinstance(o, Ephemeris):
return o.to_json()
if isinstance(o, GPSTime):
return o.__dict__
if isinstance(o, np.ndarray):
return o.tolist()
return json.JSONEncoder.default(self, o)
def deserialize_hook(dct):
if 'ephemeris' in dct:
return Ephemeris.from_json(dct)
if 'week' in dct:
return GPSTime(dct['week'], dct['tow'])
return dct
class EphemerisSourceType(IntEnum):
nav = 0
nasaUltraRapid = 1
glonassIacUltraRapid = 2
qcom = 3
def process_msg(laikad, gnss_msg, mono_time, block=False):
# TODO: Understand and use remaining unknown constellations
if gnss_msg.which() == "drMeasurementReport":
if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
return None
if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
# gpsWeek 65535 is received rarely from quectel, this cannot be
# passed to GnssMeasurements's gpsWeek (Int16)
return None
return laikad.process_gnss_msg(gnss_msg, mono_time, block=block)
def clear_tmp_cache():
if os.path.exists(DOWNLOADS_CACHE_FOLDER):
shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
os.mkdir(DOWNLOADS_CACHE_FOLDER)
def main(sm=None, pm=None, qc=None):
def main(sm=None, pm=None):
#clear_tmp_cache()
use_qcom = not Params().get_bool("UbloxAvailable", block=True)
if use_qcom or (qc is not None and qc):
raw_gnss_socket = "qcomGnss"
if use_qcom:
raw_name = "qcomGnss"
else:
raw_gnss_socket = "ubloxGnss"
raw_name = "ubloxGnss"
raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False, timeout=1000)
if sm is None:
sm = messaging.SubMaster([raw_gnss_socket, 'clocks'])
sm = messaging.SubMaster(['clocks',])
if pm is None:
pm = messaging.PubMaster(['gnssMeasurements'])
# disable until set as main gps source, to better analyze startup time
use_internet = False #"LAIKAD_NO_INTERNET" not in os.environ
use_internet = False # "LAIKAD_NO_INTERNET" not in os.environ
replay = "REPLAY" in os.environ
if replay or "CI" in os.environ:
@ -431,22 +447,17 @@ def main(sm=None, pm=None, qc=None):
laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
while True:
sm.update()
if sm.updated[raw_gnss_socket]:
gnss_msg = sm[raw_gnss_socket]
msg = process_msg(laikad, gnss_msg, sm.logMonoTime[raw_gnss_socket], replay)
if msg is None:
# TODO: beautify this, locationd needs a valid message
msg = messaging.new_message("gnssMeasurements")
pm.send('gnssMeasurements', msg)
for in_msg in messaging.drain_sock(raw_gnss_sock):
out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
pm.send('gnssMeasurements', out_msg)
sm.update(0)
if not laikad.got_first_gnss_msg and sm.updated['clocks']:
clocks_msg = sm['clocks']
t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
if laikad.auto_fetch_navs:
laikad.fetch_navs(t, block=replay)
if __name__ == "__main__":
main()

17
selfdrive/locationd/locationd.cc
Unescape View File

@ -27,7 +27,6 @@ const double MAX_FILTER_REWIND_TIME = 0.8; // s
// They should be replaced with synced time from a real clock
const double GPS_QUECTEL_SENSOR_TIME_OFFSET = 0.630; // s
const double GPS_UBLOX_SENSOR_TIME_OFFSET = 0.095; // s
const float GPS_MUL_FACTOR = 10.0;
const float GPS_POS_STD_THRESHOLD = 50.0;
const float GPS_VEL_STD_THRESHOLD = 5.0;
const float GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
@ -326,8 +325,14 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getAccuracy(),2) + std::pow(GPS_MUL_FACTOR * log.getVerticalAccuracy(),2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(GPS_MUL_FACTOR * log.getSpeedAccuracy(), 2)).asDiagonal();
float ecef_pos_std;
if (ublox_available) {
ecef_pos_std = std::sqrt(std::pow(log.getAccuracy(), 2) + std::pow(log.getVerticalAccuracy(), 2));
} else {
ecef_pos_std = std::sqrt(3 * std::pow(log.getVerticalAccuracy(), 2));
}
MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(this->gps_std_factor * ecef_pos_std, 2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(this->gps_std_factor * log.getSpeedAccuracy(), 2)).asDiagonal();
this->unix_timestamp_millis = log.getUnixTimestampMillis();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@ -377,14 +382,14 @@ void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements:
// indexed at 0 cause all std values are the same MAE
auto ecef_pos_std = log.getPositionECEF().getStd()[0];
MatrixXdr ecef_pos_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_pos_std, 2)).asDiagonal();
MatrixXdr ecef_pos_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_pos_std, 2)).asDiagonal();
auto ecef_vel_v = log.getVelocityECEF().getValue();
VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
// indexed at 0 cause all std values are the same MAE
auto ecef_vel_std = log.getVelocityECEF().getStd()[0];
MatrixXdr ecef_vel_R = Vector3d::Constant(pow(GPS_MUL_FACTOR*ecef_vel_std, 2)).asDiagonal();
MatrixXdr ecef_vel_R = Vector3d::Constant(pow(this->gps_std_factor*ecef_vel_std, 2)).asDiagonal();
double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
@ -661,8 +666,10 @@ int Localizer::locationd_thread() {
const char* gps_location_socket;
if (ublox_available) {
gps_location_socket = "gpsLocationExternal";
this->gps_std_factor = 10.0;
} else {
gps_location_socket = "gpsLocation";
this->gps_std_factor = 2.0;
}
const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration",
"carState", "carParams", "accelerometer", "gyroscope"};

3
selfdrive/locationd/locationd.h
Unescape View File

@ -14,7 +14,7 @@
#include "common/timing.h"
#include "common/util.h"
#include "selfdrive/sensord/sensors/constants.h"
#include "system/sensord/sensors/constants.h"
#define VISION_DECIMATION 2
#define SENSOR_DECIMATION 10
#include "selfdrive/locationd/models/live_kf.h"
@ -84,4 +84,5 @@ private:
std::map<std::string, double> observation_values_invalid;
bool standstill = true;
int32_t orientation_reset_count = 0;
float gps_std_factor;
};

262
selfdrive/locationd/test/test_laikad.py
Unescape View File

@ -1,21 +1,51 @@
#!/usr/bin/env python3
import time
import unittest
from collections import defaultdict
from cereal import log
import cereal.messaging as messaging
from common.params import Params
from datetime import datetime
from unittest import mock
from unittest.mock import patch
#from unittest.mock import patch
from tqdm import tqdm
from common.params import Params
from laika.constants import SECS_IN_DAY
from laika.downloader import DownloadFailed
from laika.ephemeris import EphemerisType, GPSEphemeris
from laika.ephemeris import EphemerisType
from laika.gps_time import GPSTime
from laika.helpers import ConstellationId, TimeRangeHolder
from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
from selfdrive.locationd.laikad import EPHEMERIS_CACHE, EphemerisSourceType, Laikad, create_measurement_msg
from laika.helpers import ConstellationId
from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
from selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
from selfdrive.test.openpilotci import get_url
from tools.lib.logreader import LogReader
from selfdrive.manager.process_config import managed_processes
from selfdrive.test.process_replay.helpers import OpenpilotPrefix
def get_ublox_gnss(ubloxraw):
with OpenpilotPrefix():
managed_processes['ubloxd'].start()
timeout_ms = 30
pm = messaging.PubMaster(['ubloxRaw'])
sock = messaging.sub_sock('ubloxGnss', timeout=timeout_ms)
log_msgs = []
log_t = []
for x in tqdm(ubloxraw):
pm.send(x.which(), x.as_builder())
ret = messaging.recv_one(sock)
if ret is not None:
msg = log.Event.new_message(ubloxGnss=ret.ubloxGnss.to_dict())
msg.logMonoTime = x.logMonoTime
log_msgs.append(msg)
log_t.append(1e-9 * x.logMonoTime)
assert managed_processes['ubloxd'].get_process_state_msg().running
assert len(log_msgs) > 1 or len(ubloxraw) == 0
managed_processes['ubloxd'].stop()
return log_t, log_msgs
def get_log(segs=range(0)):
@ -23,7 +53,8 @@ def get_log(segs=range(0)):
for i in segs:
logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))
all_logs = [m for m in logs if m.which() == 'ubloxGnss']
raw_logs = [m for m in logs if m.which() == 'ubloxRaw']
all_logs = get_ublox_gnss(raw_logs)[1]
low_gnss = []
for m in all_logs:
if m.ubloxGnss.which() != 'measurementReport':
@ -31,21 +62,31 @@ def get_log(segs=range(0)):
MAX_MEAS = 7
if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
mb = m.as_builder()
mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
mb.logMonoTime = m.logMonoTime
mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
low_gnss.append(mb.as_reader())
else:
low_gnss.append(m)
return all_logs, low_gnss
def get_log_qcom(segs=range(0)):
logs = []
for i in segs:
logs.extend(LogReader(get_url("b0b3cba7abf862d1|2023-03-11--09-40-33", i)))
all_logs = [m for m in logs if m.which() == 'qcomGnss']
return all_logs
def verify_messages(lr, laikad, return_one_success=False):
good_msgs = []
for m in lr:
msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
if m.which() == 'ubloxGnss':
gnss_msg = m.ubloxGnss
else:
gnss_msg = m.qcomGnss
msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
good_msgs.append(msg)
if return_one_success:
@ -55,10 +96,16 @@ def verify_messages(lr, laikad, return_one_success=False):
def get_first_gps_time(logs):
for m in logs:
if m.ubloxGnss.which == 'measurementReport':
new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
if len(new_meas) > 0:
return new_meas[0].recv_time
if m.which() == 'ubloxGnss':
if m.ubloxGnss.which == 'measurementReport':
new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
if len(new_meas) > 0:
return new_meas[0].recv_time
else:
if m.qcomGnss.which == 'measurementReport':
new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
if len(new_meas) > 0:
return new_meas[0].recv_time
def get_measurement_mock(gpstime, sat_ephemeris):
@ -79,6 +126,7 @@ class TestLaikad(unittest.TestCase):
logs, low_gnss = get_log(range(1))
cls.logs = logs
cls.low_gnss = low_gnss
cls.logs_qcom = get_log_qcom(range(1))
first_gps_time = get_first_gps_time(logs)
cls.first_gps_time = first_gps_time
@ -90,9 +138,9 @@ class TestLaikad(unittest.TestCase):
laikad = Laikad()
laikad.fetch_navs(gpstime, block=False)
laikad.orbit_fetch_future.result(30)
# Get results and save orbits to laikad:
laikad.fetch_navs(gpstime, block=False)
ephem = laikad.astro_dog.navs['G01'][0]
self.assertIsNotNone(ephem)
@ -105,6 +153,7 @@ class TestLaikad(unittest.TestCase):
self.assertIsNotNone(ephem)
self.assertNotEqual(ephem, ephem2)
def test_fetch_navs_with_wrong_clocks(self):
laikad = Laikad()
@ -127,40 +176,11 @@ class TestLaikad(unittest.TestCase):
check_has_navs()
self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
def test_ephemeris_source_in_msg(self):
data_mock = defaultdict(str)
data_mock['sv_id'] = 1
gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
laikad = Laikad()
laikad.fetch_navs(gpstime, block=True)
meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
# Verify gps satellite returns same source
meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['R01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
# Test nasa source by using older date
gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
laikad = Laikad()
laikad.fetch_navs(gpstime, block=True)
meas = get_measurement_mock(gpstime, laikad.astro_dog.navs['G01'][0])
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
# Test nav source type
ephem = GPSEphemeris(data_mock, gpstime)
meas = get_measurement_mock(gpstime, ephem)
msg = create_measurement_msg(meas)
self.assertEqual(msg.ephemerisSource.type.raw, EphemerisSourceType.nav)
def test_laika_online(self):
laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
correct_msgs = verify_messages(self.logs, laikad)
correct_msgs_expected = 559
correct_msgs_expected = 560
self.assertEqual(correct_msgs_expected, len(correct_msgs))
self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
@ -177,12 +197,15 @@ class TestLaikad(unittest.TestCase):
self.assertTrue(kf_valid)
def test_laika_online_nav_only(self):
laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
# Disable fetch_orbits to test NAV only
correct_msgs = verify_messages(self.logs, laikad)
correct_msgs_expected = 559
self.assertEqual(correct_msgs_expected, len(correct_msgs))
self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
# Disable fetch_orbits to test NAV only
correct_msgs = verify_messages(logs, laikad)
correct_msgs_expected = 44 if use_qcom else 560
valid_fix_expected = 43 if use_qcom else 560
self.assertEqual(correct_msgs_expected, len(correct_msgs))
self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
@mock.patch('laika.downloader.download_and_cache_file')
def test_laika_offline(self, downloader_mock):
@ -195,8 +218,9 @@ class TestLaikad(unittest.TestCase):
downloader_mock.side_effect = DownloadFailed
laikad = Laikad(auto_update=False)
correct_msgs = verify_messages(self.logs, laikad)
self.assertEqual(255, len(correct_msgs))
self.assertEqual(255, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
expected_msgs = 376
self.assertEqual(expected_msgs, len(correct_msgs))
self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
def test_laika_get_orbits(self):
laikad = Laikad(auto_update=False)
@ -212,65 +236,87 @@ class TestLaikad(unittest.TestCase):
self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
prn = "R01"
self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
print(min(laikad.astro_dog.navs[prn], key=lambda e: e.epoch).epoch.as_datetime())
def test_get_navs_in_process(self):
laikad = Laikad(auto_update=False)
has_navs = False
for m in self.logs:
laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
if laikad.orbit_fetch_future is not None:
laikad.orbit_fetch_future.result()
vals = laikad.astro_dog.navs.values()
has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
if has_navs:
break
self.assertTrue(has_navs)
self.assertGreater(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
self.assertEqual(None, laikad.orbit_fetch_future)
for auto_fetch_navs in [True, False]:
for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
has_navs = False
has_fix = False
seen_chip_eph = False
seen_internet_eph = False
for m in logs:
gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
if laikad.orbit_fetch_future is not None:
laikad.orbit_fetch_future.result()
vals = laikad.astro_dog.navs.values()
has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
vals = laikad.astro_dog.qcom_polys.values()
has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
if len(out_msg.gnssMeasurements.ephemerisStatuses):
seen_chip_eph = seen_chip_eph or any([x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses])
seen_internet_eph = seen_internet_eph or any([x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses])
self.assertTrue(has_navs or has_polys)
self.assertTrue(has_fix)
self.assertTrue(seen_chip_eph or auto_fetch_navs)
self.assertTrue(seen_internet_eph or not auto_fetch_navs)
self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
self.assertEqual(None, laikad.orbit_fetch_future)
def test_cache(self):
laikad = Laikad(auto_update=True, save_ephemeris=True)
def wait_for_cache():
max_time = 2
while Params().get(EPHEMERIS_CACHE) is None:
time.sleep(0.1)
max_time -= 0.1
if max_time < 0:
self.fail("Cache has not been written after 2 seconds")
# Test cache with no ephemeris
laikad.cache_ephemeris(t=GPSTime(0, 0))
wait_for_cache()
Params().remove(EPHEMERIS_CACHE)
use_qcom = True
for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs]):
laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
def wait_for_cache():
max_time = 2
while Params().get(EPHEMERIS_CACHE) is None:
time.sleep(0.1)
max_time -= 0.1
if max_time < 0:
self.fail("Cache has not been written after 2 seconds")
# Test cache with no ephemeris
laikad.last_report_time = GPSTime(1,0)
laikad.cache_ephemeris()
wait_for_cache()
Params().remove(EPHEMERIS_CACHE)
#laikad.astro_dog.get_navs(self.first_gps_time)
msg = verify_messages(logs, laikad, return_one_success=True)
laikad.cache_ephemeris()
wait_for_cache()
# Check both nav and orbits separate
laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
# Verify navs are loaded from cache
self.dict_has_values(laikad.astro_dog.navs)
# Verify cache is working for only nav by running a segment
msg = verify_messages(logs, laikad, return_one_success=True)
self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
self.assertTrue(any([x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses]))
self.assertIsNotNone(msg)
#laikad.astro_dog.get_navs(self.first_gps_time)
laikad.fetch_navs(self.first_gps_time, block=True)
# Wait for cache to save
wait_for_cache()
# Check both nav and orbits separate
laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
# Verify navs are loaded from cache
self.dict_has_values(laikad.astro_dog.navs)
# Verify cache is working for only nav by running a segment
msg = verify_messages(self.logs, laikad, return_one_success=True)
self.assertIsNotNone(msg)
with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
# Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
laikad.fetch_navs(self.first_gps_time, block=False)
mock_method.assert_not_called()
# Verify cache is working for only orbits by running a segment
laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
msg = verify_messages(self.logs, laikad, return_one_success=True)
self.assertIsNotNone(msg)
# Verify orbit data is not downloaded
mock_method.assert_not_called()
#TODO test cache with only orbits
#with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
# # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
# laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
# laikad.fetch_navs(self.first_gps_time, block=False)
# mock_method.assert_not_called()
# # Verify cache is working for only orbits by running a segment
# laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
# msg = verify_messages(self.logs, laikad, return_one_success=True)
# self.assertIsNotNone(msg)
# # Verify orbit data is not downloaded
# mock_method.assert_not_called()
#break
def test_low_gnss_meas(self):
cnt = 0
@ -282,12 +328,10 @@ class TestLaikad(unittest.TestCase):
gm = msg.gnssMeasurements
if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
cnt += 1
self.assertEqual(cnt, 559)
self.assertEqual(cnt, 560)
def dict_has_values(self, dct):
self.assertGreater(len(dct), 0)
self.assertGreater(min([len(v) for v in dct.values()]), 0)
if __name__ == "__main__":
unittest.main()

4
selfdrive/manager/manager.py
Unescape View File

@ -29,7 +29,7 @@ def manager_init() -> None:
set_time(cloudlog)
# save boot log
subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
params = Params()
params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
@ -153,7 +153,7 @@ def manager_thread() -> None:
for param in ("DoUninstall", "DoShutdown", "DoReboot"):
if params.get_bool(param):
shutdown = True
params.put("LastManagerExitReason", param)
params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
cloudlog.warning(f"Shutting down manager - {param} set")
if shutdown:

24
selfdrive/manager/process_config.py
Unescape View File

@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool:
run = (not CP.notCar) or not params.get_bool("DisableLogging")
return started and run
def ublox_available() -> bool:
return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
def ublox(started, params, CP: car.CarParams) -> bool:
use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
use_ublox = ublox_available()
params.put_bool("UbloxAvailable", use_ublox)
return started and use_ublox
def qcomgps(started, params, CP: car.CarParams) -> bool:
return started and not ublox_available()
procs = [
# due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
@ -34,12 +40,12 @@ procs = [
DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@ -47,21 +53,21 @@ procs = [
PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
PythonProcess("torqued", "selfdrive.locationd.torqued"),
PythonProcess("controlsd", "selfdrive.controls.controlsd"),
PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
PythonProcess("laikad", "selfdrive.locationd.laikad"),
PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
PythonProcess("navd", "selfdrive.navd.navd"),
PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
PythonProcess("plannerd", "selfdrive.controls.plannerd"),
PythonProcess("radard", "selfdrive.controls.radard"),
PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
PythonProcess("statsd", "selfdrive.statsd", offroad=True),
# debug procs

2
selfdrive/modeld/SConscript
Unescape View File

@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [
if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
fn = File("models/supercombo").abspath
tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"]
tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
if not GetOption('pc_thneed'):
# use FLOAT16 on device for speed + don't cache the CL kernels for space
tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]

8
selfdrive/modeld/models/README.md
Unescape View File

@ -2,7 +2,7 @@
To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
## Supercombo
### Supercombo input format (Full size: 393738 x float32)
### Supercombo input format (Full size: 799906 x float32)
* **image stream**
* Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
* Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
* Channel 4 represents the half-res U channel
* Channel 5 represents the half-res V channel
* **desire**
* one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
* one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
* **traffic convention**
* one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
* **recurrent state**
* The recurrent state vector that is fed back into the GRU for temporal context : 512
* **feature buffer**
* A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128
### Supercombo output format (Full size: XXX x float32)

4
selfdrive/modeld/models/supercombo.onnx
Unescape View File

@ -1,3 +1,3 @@
version https://git-lfs.github.com/spec/v1
oid sha256:736ddc08497d7596bae4d9515a8efb996676be80e67a6d34d632bb8af2ed3fa9
size 45962515
oid sha256:5121deb0d5c683b0fbee4c1cad7bc625953bf127b1383fb7599a6b644efd0aea
size 46011200

2
selfdrive/statsd.py
Unescape View File

@ -13,7 +13,7 @@ from system.swaglog import cloudlog
from system.hardware import HARDWARE
from common.file_helpers import atomic_write_in_dir
from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
class METRIC_TYPE:

2
selfdrive/test/process_replay/model_replay_ref_commit
Unescape View File

@ -1 +1 @@
ba947edbb131a2a36ced7c490dfcf3280ad5b167
82db08d52b155336e9a1dadd11485d5acdf2eba0

134
selfdrive/test/process_replay/process_replay.py
Unescape View File

@ -5,7 +5,8 @@ import sys
import threading
import time
import signal
from collections import namedtuple
from dataclasses import dataclass, field
from typing import Dict, List, Optional, Callable
import capnp
@ -28,7 +29,20 @@ TIMEOUT = 15
PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
@dataclass
class ProcessConfig:
proc_name: str
pub_sub: Dict[str, List[str]]
ignore: List[str]
init_callback: Optional[Callable]
should_recv_callback: Optional[Callable]
tolerance: Optional[float]
fake_pubsubmaster: bool
submaster_config: Dict[str, List[str]] = field(default_factory=dict)
environ: Dict[str, str] = field(default_factory=dict)
subtest_name: str = ""
field_tolerances: Dict[str, float] = field(default_factory=dict)
timeout: int = 30
def wait_for_event(evt):
@ -238,21 +252,12 @@ def torqued_rcv_callback(msg, CP, cfg, fsm):
return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman'
def ublox_rcv_callback(msg):
def ublox_rcv_callback(msg, CP, cfg, fsm):
msg_class, msg_id = msg.ubloxRaw[2:4]
if (msg_class, msg_id) in {(1, 7 * 16)}:
return ["gpsLocationExternal"]
return ["gpsLocationExternal"], True
elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}:
return ["ubloxGnss"]
else:
return []
def laika_rcv_callback(msg, CP, cfg, fsm):
if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
return ["gnssMeasurements"], True
elif msg.which() == 'qcomGnss' and msg.qcomGnss.which() == "drMeasurementReport":
return ["gnssMeasurements"], True
return ["ubloxGnss"], True
else:
return [], False
@ -331,7 +336,7 @@ CONFIGS = [
pub_sub={
"cameraOdometry": ["liveLocationKalman"],
"accelerometer": [], "gyroscope": [],
"gpsLocationExternal": [], "liveCalibration": [], "carState": [],
"gpsLocationExternal": [], "liveCalibration": [], "carState": [], "gpsLocation": [],
},
ignore=["logMonoTime", "valid"],
init_callback=get_car_params,
@ -371,9 +376,10 @@ CONFIGS = [
},
ignore=["logMonoTime"],
init_callback=get_car_params,
should_recv_callback=laika_rcv_callback,
should_recv_callback=None,
tolerance=NUMPY_TOLERANCE,
fake_pubsubmaster=True,
fake_pubsubmaster=False,
timeout=60*10, # first messages are blocked on internet assistance
),
ProcessConfig(
proc_name="torqued",
@ -395,10 +401,10 @@ def replay_process(cfg, lr, fingerprint=None):
if cfg.fake_pubsubmaster:
return python_replay_process(cfg, lr, fingerprint)
else:
return cpp_replay_process(cfg, lr, fingerprint)
return replay_process_with_sockets(cfg, lr, fingerprint)
def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
def setup_env(simulation=False, CP=None, cfg=None, controlsState=None, lr=None):
params = Params()
params.clear_all()
params.put_bool("OpenpilotEnabledToggle", True)
@ -406,13 +412,19 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
params.put_bool("DisengageOnAccelerator", True)
params.put_bool("WideCameraOnly", False)
params.put_bool("DisableLogging", False)
params.put_bool("UbloxAvailable", True)
params.put_bool("ObdMultiplexingDisabled", True)
os.environ["NO_RADAR_SLEEP"] = "1"
os.environ["REPLAY"] = "1"
os.environ['SKIP_FW_QUERY'] = ""
os.environ['FINGERPRINT'] = ""
os.environ["SKIP_FW_QUERY"] = ""
os.environ["FINGERPRINT"] = ""
if lr is not None:
services = {m.which() for m in lr}
params.put_bool("UbloxAvailable", "ubloxGnss" in services)
if lr is not None:
services = {m.which() for m in lr}
params.put_bool("UbloxAvailable", "ubloxGnss" in services)
if cfg is not None:
# Clear all custom processConfig environment variables
@ -449,9 +461,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
if CP.openpilotLongitudinalControl:
params.put_bool("ExperimentalLongitudinalEnabled", True)
# controlsd process configuration assume all routes are out of dashcam
params.put_bool("DashcamOverride", True)
def python_replay_process(cfg, lr, fingerprint=None):
sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
@ -467,12 +476,6 @@ def python_replay_process(cfg, lr, fingerprint=None):
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
# laikad needs decision between submaster ubloxGnss and qcomGnss, prio given to ubloxGnss
if cfg.proc_name == "laikad":
args = (*args, not any(m.which() == "ubloxGnss" for m in pub_msgs))
service = "qcomGnss" if args[2] else "ubloxGnss"
pub_msgs = [m for m in pub_msgs if m.which() == service or m.which() == 'clocks']
controlsState = None
initialized = False
for msg in lr:
@ -488,10 +491,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
if fingerprint is not None:
os.environ['SKIP_FW_QUERY'] = "1"
os.environ['FINGERPRINT'] = fingerprint
setup_env(cfg=cfg, controlsState=controlsState)
setup_env(cfg=cfg, controlsState=controlsState, lr=lr)
else:
CP = [m for m in lr if m.which() == 'carParams'][0].carParams
setup_env(CP=CP, cfg=cfg, controlsState=controlsState)
setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr)
assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
managed_processes[cfg.proc_name].prepare()
@ -520,7 +523,7 @@ def python_replay_process(cfg, lr, fingerprint=None):
recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
else:
recv_socks = [s for s in cfg.pub_sub[msg.which()] if
(fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
(fsm.frame + 1) % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0]
should_recv = bool(len(recv_socks))
if msg.which() == 'can':
@ -543,49 +546,58 @@ def python_replay_process(cfg, lr, fingerprint=None):
return log_msgs
def cpp_replay_process(cfg, lr, fingerprint=None):
sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub] # We get responses here
def replay_process_with_sockets(cfg, lr, fingerprint=None):
pm = messaging.PubMaster(cfg.pub_sub.keys())
sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
sockets = {s: messaging.sub_sock(s, timeout=100) for s in sub_sockets}
all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
pub_msgs = [msg for msg in all_msgs if msg.which() in list(cfg.pub_sub.keys())]
log_msgs = []
# We need to fake SubMaster alive since we can't inject a fake clock
setup_env(simulation=True, cfg=cfg)
setup_env(simulation=True, cfg=cfg, lr=lr)
if cfg.proc_name == "laikad":
ublox = Params().get_bool("UbloxAvailable")
keys = set(cfg.pub_sub.keys()) - ({"qcomGnss", } if ublox else {"ubloxGnss", })
pub_msgs = [msg for msg in pub_msgs if msg.which() in keys]
managed_processes[cfg.proc_name].prepare()
managed_processes[cfg.proc_name].start()
log_msgs = []
try:
with Timeout(TIMEOUT, error_msg=f"timed out testing process {repr(cfg.proc_name)}"):
while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
# Wait for process to startup
with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"):
while not any(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
time.sleep(0)
# Make sure all subscribers are connected
sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets}
for s in sub_sockets:
messaging.recv_one_or_none(sockets[s])
for s in sockets.values():
messaging.recv_one_or_none(s)
for i, msg in enumerate(pub_msgs):
pm.send(msg.which(), msg.as_builder())
resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg)
for s in resp_sockets:
response = messaging.recv_one_retry(sockets[s])
# Do the replay
cnt = 0
for msg in pub_msgs:
with Timeout(cfg.timeout, error_msg=f"timed out testing process {repr(cfg.proc_name)}, {cnt}/{len(pub_msgs)} msgs done"):
resp_sockets = cfg.pub_sub[msg.which()]
if cfg.should_recv_callback is not None:
resp_sockets, _ = cfg.should_recv_callback(msg, None, None, None)
if response is None:
print(f"Warning, no response received {i}")
else:
# Make sure all subscribers are connected
if len(log_msgs) == 0 and len(resp_sockets) > 0:
for s in sockets.values():
messaging.recv_one_or_none(s)
response = response.as_builder()
response.logMonoTime = msg.logMonoTime
response = response.as_reader()
log_msgs.append(response)
pm.send(msg.which(), msg.as_builder())
while not pm.all_readers_updated(msg.which()):
time.sleep(0)
if not len(resp_sockets): # We only need to wait if we didn't already wait for a response
while not pm.all_readers_updated(msg.which()):
time.sleep(0)
for s in resp_sockets:
m = messaging.recv_one_retry(sockets[s])
m = m.as_builder()
m.logMonoTime = msg.logMonoTime
log_msgs.append(m.as_reader())
cnt += 1
finally:
managed_processes[cfg.proc_name].signal(signal.SIGKILL)
managed_processes[cfg.proc_name].stop()

2
selfdrive/test/process_replay/ref_commit
Unescape View File

@ -1 +1 @@
f9c7e05b836c4bff364978752e82d64b90f9d6e6
1bb3f665191e1b75c1b786f60e76d51b274f98ae

14
selfdrive/test/process_replay/test_processes.py
Unescape View File

@ -18,7 +18,7 @@ from tools.lib.logreader import LogReader
source_segments = [
("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"), # COMMA.BODY
("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"), # HYUNDAI.SONATA
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6
("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"), # HYUNDAI.KIA_EV6 (+ QCOM GPS)
("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"), # TOYOTA.PRIUS (INDI)
("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"), # TOYOTA.RAV4 (LQR)
("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"), # TOYOTA.COROLLA_TSS2
@ -29,12 +29,12 @@ source_segments = [
("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"), # SUBARU.OUTBACK
("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"), # GM.VOLT
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"), # GM.BOLT_EUV
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"), # NISSAN.XTRAIL
("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"), # VOLKSWAGEN.GOLF
("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"), # MAZDA.CX9_2021
# Enable when port is tested and dashcamOnly is no longer set
#("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"), # FORD.BRONCO_SPORT_MK1
#("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"), # TESLA.AP2_MODELS
#("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"), # VOLKSWAGEN.PASSAT_NMS
]
@ -53,7 +53,6 @@ segments = [
("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
@ -71,7 +70,7 @@ def run_test_process(data):
res = None
if not args.upload_only:
lr = LogReader.from_bytes(lr_dat)
res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
# save logs so we can upload when updating refs
save_log(cur_log_fn, log_msgs)
@ -89,7 +88,7 @@ def get_log_data(segment):
return (segment, f.read())
def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
if ignore_fields is None:
ignore_fields = []
if ignore_msgs is None:
@ -97,7 +96,10 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore
ref_log_msgs = list(LogReader(ref_log_path))
log_msgs = replay_process(cfg, lr)
try:
log_msgs = replay_process(cfg, lr)
except Exception as e:
raise Exception("failed on segment: " + segment) from e
# check to make sure openpilot is engaged in the route
if cfg.proc_name == "controlsd":

4
selfdrive/test/test_onroad.py
Unescape View File

@ -15,7 +15,7 @@ from common.basedir import BASEDIR
from common.timeout import Timeout
from common.params import Params
from selfdrive.controls.lib.events import EVENTS, ET
from selfdrive.loggerd.config import ROOT
from system.loggerd.config import ROOT
from selfdrive.test.helpers import set_params_enabled, release_only
from tools.lib.logreader import LogReader
@ -25,7 +25,7 @@ PROCS = {
"./loggerd": 10.0,
"./encoderd": 17.0,
"./camerad": 14.5,
"./locationd": 9.1,
"./locationd": 11.0,
"selfdrive.controls.plannerd": 16.5,
"./_ui": 19.2,
"selfdrive.locationd.paramsd": 9.0,

2
selfdrive/test/test_valgrind_replay.py
Unescape View File

@ -28,7 +28,7 @@ CONFIGS = [
},
ignore=[],
command="./ubloxd",
path="selfdrive/locationd/",
path="system/ubloxd",
segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
wait_for_response=True
),

2
selfdrive/thermald/thermald.py
Unescape View File

@ -18,7 +18,7 @@ from common.params import Params
from common.realtime import DT_TRML, sec_since_boot
from selfdrive.controls.lib.alertmanager import set_offroad_alert
from system.hardware import HARDWARE, TICI, AGNOS
from selfdrive.loggerd.config import get_available_percent
from system.loggerd.config import get_available_percent
from selfdrive.statsd import statlog
from system.swaglog import cloudlog
from selfdrive.thermald.power_monitoring import PowerMonitoring

2
selfdrive/tombstoned.py
Unescape View File

@ -10,7 +10,7 @@ import glob
from typing import NoReturn
from common.file_helpers import mkdirs_exists_ok
from selfdrive.loggerd.config import ROOT
from system.loggerd.config import ROOT
import selfdrive.sentry as sentry
from system.swaglog import cloudlog
from system.version import get_commit

38
selfdrive/ui/qt/maps/map.cc
Unescape View File

@ -24,8 +24,6 @@ const float MAX_PITCH = 50;
const float MIN_PITCH = 0;
const float MAP_SCALE = 2;
const float VALID_POS_STD = 50.0; // m
const QString ICON_SUFFIX = ".png";
MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) {
}
}
// TODO should check a valid/status flag
if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){
auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
auto laikad_pos = laikad_location.getPositionECEF();
auto laikad_pos_ecef = laikad_pos.getValue();
auto laikad_pos_std = laikad_pos.getStd();
auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
if (laikad_valid && !locationd_valid) {
ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
// Compute NED velocity
LocalCoord converter(ecef);
ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
float velocity = ned_vel.norm();
velocity_filter.update(velocity);
// Convert NED velocity to angle
if (velocity > 1.0) {
float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
if (last_bearing) {
float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
} else {
last_bearing = new_bearing;
}
}
}
}
if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;

9
selfdrive/ui/qt/offroad/settings.cc
Unescape View File

@ -43,10 +43,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
},
{
"ExperimentalLongitudinalEnabled",
tr("Experimental openpilot Longitudinal Control"),
QString("<b>%1</b><br>%2")
.arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB)."))
.arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.")),
tr("openpilot Longitudinal Control (Alpha)"),
QString("<b>%1</b><br><br>%2")
.arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
.arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
"../assets/offroad/icon_speed_limit.png",
},
{
@ -193,6 +193,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
params.remove("CalibrationParams");
params.remove("LiveTorqueParameters");
}
});
addItem(resetCalibBtn);

20
selfdrive/ui/qt/onroad.cc
Unescape View File

@ -648,16 +648,18 @@ void AnnotatedCameraWidget::paintGL() {
}
// Wide or narrow cam dependent on speed
float v_ego = sm["carState"].getCarState().getVEgo();
if ((v_ego < 10) || s->wide_cam_only) {
wide_cam_requested = true;
} else if (v_ego > 15) {
wide_cam_requested = false;
bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
if (has_wide_cam) {
float v_ego = sm["carState"].getCarState().getVEgo();
if ((v_ego < 10) || available_streams.size() == 1) {
wide_cam_requested = true;
} else if (v_ego > 15) {
wide_cam_requested = false;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
}
wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
// TODO: also detect when ecam vision stream isn't available
// for replay of old routes, never go to widecam
wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;

14
selfdrive/ui/qt/widgets/cameraview.cc
Unescape View File

@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
setAttribute(Qt::WA_OpaquePaintEvent);
qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
}
CameraWidget::~CameraWidget() {
@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() {
}
}
void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
available_streams = streams;
}
void CameraWidget::updateFrameMat() {
int w = width(), h = height();
@ -366,6 +372,13 @@ void CameraWidget::vipcThread() {
if (!vipc_client->connected) {
clearFrames();
auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
if (streams.empty()) {
QThread::msleep(100);
continue;
}
emit vipcAvailableStreamsUpdated(streams);
if (!vipc_client->connect(false)) {
QThread::msleep(100);
continue;
@ -400,4 +413,5 @@ void CameraWidget::vipcThread() {
void CameraWidget::clearFrames() {
std::lock_guard lk(frame_lock);
frames.clear();
available_streams.clear();
}

5
selfdrive/ui/qt/widgets/cameraview.h
Unescape View File

@ -41,6 +41,7 @@ signals:
void clicked();
void vipcThreadConnected(VisionIpcClient *);
void vipcThreadFrameReceived();
void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
protected:
void paintGL() override;
@ -71,6 +72,7 @@ protected:
int stream_stride = 0;
std::atomic<VisionStreamType> active_stream_type;
std::atomic<VisionStreamType> requested_stream_type;
std::set<VisionStreamType> available_streams;
QThread *vipc_thread = nullptr;
// Calibration
@ -88,4 +90,7 @@ protected:
protected slots:
void vipcConnected(VisionIpcClient *vipc_client);
void vipcFrameReceived();
void availableStreamsUpdated(std::set<VisionStreamType> streams);
};
Q_DECLARE_METATYPE(std::set<VisionStreamType>);

24
selfdrive/ui/translations/main_de.ts
Unescape View File

@ -992,22 +992,10 @@ This may take up to a minute.</source>
<source>Experimental Mode</source>
<translation>Experimenteller Modus</translation>
</message>
<message>
<source>Experimental openpilot Longitudinal Control</source>
<translation>Experimenteller Openpilot Tempomat</translation>
</message>
<message>
<source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation>WARNUNG: Der Openpilot Tempomat ist für dieses Auto experimentell und deaktiviert den Notbremsassistenten.</translation>
</message>
<message>
<source>Disengage on Accelerator Pedal</source>
<translation>Bei Gasbetätigung ausschalten</translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
<translation>Bei diesem auto wird standardmäßig der im Auto eingebaute adaptive Tempomat anstelle des Openpilot Tempomats benutzt. Aktiviere diesen Schalter, um zum Openpilot Tempomaten zu wechseln. Es ist empfohlen den Experimentellen Modus bei Nutzung des Openpilot Tempomats zu aktivieren.</translation>
</message>
<message>
<source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
<translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
@ -1044,6 +1032,18 @@ This may take up to a minute.</source>
<source>Enable experimental longitudinal control to allow Experimental mode.</source>
<translation>Aktiviere den experimentellen Openpilot Tempomaten für experimentelle Funktionen.</translation>
</message>
<message>
<source>openpilot Longitudinal Control (Alpha)</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
<translation type="unfinished"></translation>
</message>
<message>
<source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
<translation type="unfinished"></translation>
</message>
</context>
<context>
<name>Updater</name>

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