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replace a bunch more cereal.car

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pull/33208/head
Shane Smiskol 10 months ago
parent 48c0b7394f
commit eb52d701de
25 changed files with 90 additions and 102 deletions
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  1. 5
      selfdrive/car/body/carstate.py
  2. 2
      selfdrive/car/chrysler/carstate.py
  3. 11
      selfdrive/car/chrysler/interface.py
  4. 6
      selfdrive/car/chrysler/radar_interface.py
  5. 9
      selfdrive/car/ford/carstate.py
  6. 17
      selfdrive/car/ford/interface.py
  7. 8
      selfdrive/car/ford/radar_interface.py
  8. 9
      selfdrive/car/gm/carstate.py
  9. 19
      selfdrive/car/gm/interface.py
  10. 6
      selfdrive/car/gm/radar_interface.py
  11. 2
      selfdrive/car/honda/carstate.py
  12. 13
      selfdrive/car/honda/interface.py
  13. 6
      selfdrive/car/honda/radar_interface.py
  14. 4
      selfdrive/car/hyundai/carstate.py
  15. 17
      selfdrive/car/hyundai/interface.py
  16. 6
      selfdrive/car/hyundai/radar_interface.py
  17. 2
      selfdrive/car/mazda/carstate.py
  18. 9
      selfdrive/car/mazda/interface.py
  19. 3
      selfdrive/car/mock/interface.py
  20. 4
      selfdrive/car/nissan/carstate.py
  21. 13
      selfdrive/car/nissan/interface.py
  22. 4
      selfdrive/car/subaru/carstate.py
  23. 2
      selfdrive/car/tesla/carstate.py
  24. 4
      selfdrive/car/volkswagen/carstate.py
  25. 11
      selfdrive/car/volkswagen/interface.py

5
selfdrive/car/body/carstate.py
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@ -1,4 +1,3 @@
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.body.values import DBC
@ -7,7 +6,7 @@ STARTUP_TICKS = 100
class CarState(CarStateBase):
def update(self, cp):
ret = car.CarState.new_message()
ret = CarState.new_message()
ret.wheelSpeeds.fl = cp.vl['MOTORS_DATA']['SPEED_L']
ret.wheelSpeeds.fr = cp.vl['MOTORS_DATA']['SPEED_R']
@ -24,7 +23,7 @@ class CarState(CarStateBase):
ret.fuelGauge = cp.vl["BODY_DATA"]["BATT_PERCENTAGE"] / 100
# irrelevant for non-car
ret.gearShifter = car.CarState.GearShifter.drive
ret.gearShifter = CarState.GearShifter.drive
ret.cruiseState.enabled = True
ret.cruiseState.available = True

2
selfdrive/car/chrysler/carstate.py
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@ -26,7 +26,7 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_BUTTONS"]["ACC_Distance_Dec"]

11
selfdrive/car/chrysler/interface.py
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@ -1,17 +1,16 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "chrysler"
ret.dashcamOnly = candidate in RAM_HD
@ -21,7 +20,7 @@ class CarInterface(CarInterfaceBase):
ret.steerLimitTimer = 0.4
# safety config
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.chrysler)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.chrysler)]
if candidate in RAM_HD:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_HD
elif candidate in RAM_DT:
@ -83,7 +82,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
# events
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
events = self.create_common_events(ret, extra_gears=[structs.CarState.GearShifter.low])
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):

6
selfdrive/car/chrysler/radar_interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
from opendbc.can.parser import CANParser
from cereal import car
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
from openpilot.selfdrive.car.chrysler.values import DBC
@ -53,7 +53,7 @@ class RadarInterface(RadarInterfaceBase):
if self.trigger_msg not in self.updated_messages:
return None
ret = car.RadarData.new_message()
ret = structs.RadarData()
errors = []
if not self.rcp.can_valid:
errors.append("canError")
@ -64,7 +64,7 @@ class RadarInterface(RadarInterfaceBase):
trackId = _address_to_track(ii)
if trackId not in self.pts:
self.pts[trackId] = car.RadarData.RadarPoint.new_message()
self.pts[trackId] = structs.RadarData.RadarPoint()
self.pts[trackId].trackId = trackId
self.pts[trackId].aRel = float('nan')
self.pts[trackId].yvRel = float('nan')

9
selfdrive/car/ford/carstate.py
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@ -1,14 +1,13 @@
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import DBC, CarControllerParams, FordFlags
from openpilot.selfdrive.car.interfaces import CarStateBase
GearShifter = car.CarState.GearShifter
TransmissionType = CarParams.TransmissionType
GearShifter = structs.CarState.GearShifter
TransmissionType = structs.CarParams.TransmissionType
class CarState(CarStateBase):
@ -24,7 +23,7 @@ class CarState(CarStateBase):
self.distance_button = 0
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
# Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
# The vehicle usually recovers out of this state within a minute of normal driving

17
selfdrive/car/ford/interface.py
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@ -1,32 +1,31 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import Ecu, FordFlags
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
TransmissionType = CarParams.TransmissionType
GearShifter = car.CarState.GearShifter
ButtonType = structs.CarState.ButtonEvent.Type
TransmissionType = structs.CarParams.TransmissionType
GearShifter = structs.CarState.GearShifter
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "ford"
ret.dashcamOnly = bool(ret.flags & FordFlags.CANFD)
ret.radarUnavailable = True
ret.steerControlType = CarParams.SteerControlType.angle
ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.steerActuatorDelay = 0.2
ret.steerLimitTimer = 1.0
CAN = CanBus(fingerprint=fingerprint)
cfgs = [get_safety_config(CarParams.SafetyModel.ford)]
cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
if CAN.main >= 4:
cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
ret.experimentalLongitudinalAvailable = True

8
selfdrive/car/ford/radar_interface.py
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@ -1,6 +1,6 @@
from math import cos, sin
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.ford.fordcan import CanBus
from openpilot.selfdrive.car.ford.values import DBC, RADAR
@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
if self.trigger_msg not in self.updated_messages:
return None
ret = car.RadarData.new_message()
ret = structs.RadarData()
errors = []
if not self.rcp.can_valid:
errors.append("canError")
@ -89,7 +89,7 @@ class RadarInterface(RadarInterfaceBase):
# radar point only valid if there have been enough valid measurements
if self.valid_cnt[ii] > 0:
if ii not in self.pts:
self.pts[ii] = car.RadarData.RadarPoint.new_message()
self.pts[ii] = structs.RadarData.RadarPoint()
self.pts[ii].trackId = self.track_id
self.track_id += 1
self.pts[ii].dRel = cpt['X_Rel'] # from front of car
@ -112,7 +112,7 @@ class RadarInterface(RadarInterfaceBase):
i = (ii - 1) * 4 + scanIndex
if i not in self.pts:
self.pts[i] = car.RadarData.RadarPoint.new_message()
self.pts[i] = structs.RadarData.RadarPoint()
self.pts[i].trackId = self.track_id
self.pts[i].aRel = float('nan')
self.pts[i].yvRel = float('nan')

9
selfdrive/car/gm/carstate.py
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@ -1,15 +1,14 @@
import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.helpers import mean
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
TransmissionType = CarParams.TransmissionType
NetworkLocation = CarParams.NetworkLocation
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
STANDSTILL_THRESHOLD = 10 * 0.0311 * CV.KPH_TO_MS
@ -31,7 +30,7 @@ class CarState(CarStateBase):
self.distance_button = 0
def update(self, pt_cp, cam_cp, loopback_cp):
ret = car.CarState.new_message()
ret = structs.CarState()
self.prev_cruise_buttons = self.cruise_buttons
self.prev_distance_button = self.distance_button

19
selfdrive/car/gm/interface.py
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@ -6,18 +6,17 @@ from math import fabs, exp
from panda import Panda
from openpilot.common.basedir import BASEDIR
from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction
from openpilot.selfdrive.car import create_button_events, get_safety_config, get_friction, structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD, LatControlInputs, NanoFFModel
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
GearShifter = car.CarState.GearShifter
TransmissionType = CarParams.TransmissionType
NetworkLocation = CarParams.NetworkLocation
GearShifter = structs.CarState.GearShifter
TransmissionType = structs.CarParams.TransmissionType
NetworkLocation = structs.CarParams.NetworkLocation
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
@ -49,7 +48,7 @@ class CarInterface(CarInterfaceBase):
else:
return CarInterfaceBase.get_steer_feedforward_default
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
def torque_from_lateral_accel_siglin(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
@ -71,7 +70,7 @@ class CarInterface(CarInterfaceBase):
steer_torque = (sig(latcontrol_inputs.lateral_acceleration * a) * b) + (latcontrol_inputs.lateral_acceleration * c)
return float(steer_torque) + friction
def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: CarParams.LateralTorqueTuning, lateral_accel_error: float,
def torque_from_lateral_accel_neural(self, latcontrol_inputs: LatControlInputs, torque_params: structs.CarParams.LateralTorqueTuning, lateral_accel_error: float,
lateral_accel_deadzone: float, friction_compensation: bool, gravity_adjusted: bool) -> float:
friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
inputs = list(latcontrol_inputs)
@ -89,9 +88,9 @@ class CarInterface(CarInterfaceBase):
return self.torque_from_lateral_accel_linear
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "gm"
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.gm)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
ret.autoResumeSng = False
ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]

6
selfdrive/car/gm/radar_interface.py
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@ -1,7 +1,7 @@
#!/usr/bin/env python3
import math
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.gm.values import DBC, CanBus
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
@ -52,7 +52,7 @@ class RadarInterface(RadarInterfaceBase):
if self.trigger_msg not in self.updated_messages:
return None
ret = car.RadarData.new_message()
ret = structs.RadarData()
header = self.rcp.vl[RADAR_HEADER_MSG]
fault = header['FLRRSnsrBlckd'] or header['FLRRSnstvFltPrsntInt'] or \
header['FLRRYawRtPlsblityFlt'] or header['FLRRHWFltPrsntInt'] or \
@ -82,7 +82,7 @@ class RadarInterface(RadarInterfaceBase):
targetId = cpt['TrkObjectID']
currentTargets.add(targetId)
if targetId not in self.pts:
self.pts[targetId] = car.RadarData.RadarPoint.new_message()
self.pts[targetId] = structs.RadarData.RadarPoint()
self.pts[targetId].trackId = targetId
distance = cpt['TrkRange']
self.pts[targetId].dRel = distance # from front of car

2
selfdrive/car/honda/carstate.py
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@ -106,7 +106,7 @@ class CarState(CarStateBase):
self.dash_speed_seen = False
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
ret = structs.CarState()
# car params
v_weight_v = [0., 1.] # don't trust smooth speed at low values to avoid premature zero snapping

13
selfdrive/car/honda/interface.py
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@ -1,20 +1,19 @@
#!/usr/bin/env python3
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.helpers import interp
from openpilot.selfdrive.car.honda.hondacan import CanBus
from openpilot.selfdrive.car.honda.values import CarControllerParams, CruiseButtons, CruiseSettings, HondaFlags, CAR, HONDA_BOSCH, \
HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
TransmissionType = CarParams.TransmissionType
TransmissionType = structs.CarParams.TransmissionType
BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
SETTINGS_BUTTONS_DICT = {CruiseSettings.DISTANCE: ButtonType.gapAdjustCruise, CruiseSettings.LKAS: ButtonType.altButton1}
@ -33,13 +32,13 @@ class CarInterface(CarInterfaceBase):
return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "honda"
CAN = CanBus(ret, fingerprint)
if candidate in HONDA_BOSCH:
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaBosch)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaBosch)]
ret.radarUnavailable = True
# Disable the radar and let openpilot control longitudinal
# WARNING: THIS DISABLES AEB!
@ -48,7 +47,7 @@ class CarInterface(CarInterfaceBase):
ret.openpilotLongitudinalControl = experimental_long
ret.pcmCruise = not ret.openpilotLongitudinalControl
else:
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hondaNidec)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hondaNidec)]
ret.openpilotLongitudinalControl = True
ret.pcmCruise = True

6
selfdrive/car/honda/radar_interface.py
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@ -1,6 +1,6 @@
#!/usr/bin/env python3
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
from openpilot.selfdrive.car.honda.values import DBC
@ -47,7 +47,7 @@ class RadarInterface(RadarInterfaceBase):
return rr
def _update(self, updated_messages):
ret = car.RadarData.new_message()
ret = structs.RadarData()
for ii in sorted(updated_messages):
cpt = self.rcp.vl[ii]
@ -57,7 +57,7 @@ class RadarInterface(RadarInterfaceBase):
self.radar_wrong_config = cpt['RADAR_STATE'] == 0x69
elif cpt['LONG_DIST'] < 255:
if ii not in self.pts or cpt['NEW_TRACK']:
self.pts[ii] = car.RadarData.RadarPoint.new_message()
self.pts[ii] = structs.RadarData.RadarPoint()
self.pts[ii].trackId = self.track_id
self.track_id += 1
self.pts[ii].dRel = cpt['LONG_DIST'] # from front of car

4
selfdrive/car/hyundai/carstate.py
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@ -56,7 +56,7 @@ class CarState(CarStateBase):
if self.CP.carFingerprint in CANFD_CAR:
return self.update_canfd(cp, cp_cam)
ret = car.CarState.new_message()
ret = structs.CarState()
cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
self.is_metric = cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] == 0
speed_conv = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
@ -169,7 +169,7 @@ class CarState(CarStateBase):
return ret
def update_canfd(self, cp, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS

17
selfdrive/car/hyundai/interface.py
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@ -1,17 +1,16 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
CANFD_UNSUPPORTED_LONGITUDINAL_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, \
UNSUPPORTED_LONGITUDINAL_CAR, Buttons
from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.disable_ecu import disable_ecu
Ecu = CarParams.Ecu
ButtonType = car.CarState.ButtonEvent.Type
Ecu = structs.CarParams.Ecu
ButtonType = structs.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
ENABLE_BUTTONS = (Buttons.RES_ACCEL, Buttons.SET_DECEL, Buttons.CANCEL)
BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: ButtonType.decelCruise,
@ -20,7 +19,7 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "hyundai"
ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
@ -101,9 +100,9 @@ class CarInterface(CarInterfaceBase):
# *** panda safety config ***
if candidate in CANFD_CAR:
cfgs = [get_safety_config(CarParams.SafetyModel.hyundaiCanfd), ]
cfgs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiCanfd), ]
if CAN.ECAN >= 4:
cfgs.insert(0, get_safety_config(CarParams.SafetyModel.noOutput))
cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
ret.safetyConfigs = cfgs
if ret.flags & HyundaiFlags.CANFD_HDA2:
@ -117,9 +116,9 @@ class CarInterface(CarInterfaceBase):
else:
if candidate in LEGACY_SAFETY_MODE_CAR:
# these cars require a special panda safety mode due to missing counters and checksums in the messages
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundaiLegacy)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundaiLegacy)]
else:
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.hyundai, 0)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]
if candidate in CAMERA_SCC_CAR:
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC

6
selfdrive/car/hyundai/radar_interface.py
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@ -1,7 +1,7 @@
import math
from cereal import car
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
from openpilot.selfdrive.car.hyundai.values import DBC
@ -44,7 +44,7 @@ class RadarInterface(RadarInterfaceBase):
return rr
def _update(self, updated_messages):
ret = car.RadarData.new_message()
ret = structs.RadarData()
if self.rcp is None:
return ret
@ -58,7 +58,7 @@ class RadarInterface(RadarInterfaceBase):
msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
if addr not in self.pts:
self.pts[addr] = car.RadarData.RadarPoint.new_message()
self.pts[addr] = structs.RadarData.RadarPoint()
self.pts[addr].trackId = self.track_id
self.track_id += 1

2
selfdrive/car/mazda/carstate.py
Unescape View File

@ -23,7 +23,7 @@ class CarState(CarStateBase):
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRZ_BTNS"]["DISTANCE_LESS"]

9
selfdrive/car/mazda/interface.py
Unescape View File

@ -1,20 +1,19 @@
#!/usr/bin/env python3
from cereal import car
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "mazda"
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.mazda)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.mazda)]
ret.radarUnavailable = True
ret.dashcamOnly = candidate not in (CAR.MAZDA_CX5_2022, CAR.MAZDA_CX9_2021)

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

@ -1,5 +1,4 @@
#!/usr/bin/env python3
from cereal import car
import cereal.messaging as messaging
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
@ -26,7 +25,7 @@ class CarInterface(CarInterfaceBase):
self.sm.update(0)
gps_sock = 'gpsLocationExternal' if self.sm.recv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
ret = car.CarState.new_message()
ret = structs.CarState()
ret.vEgo = self.sm[gps_sock].speed
ret.vEgoRaw = self.sm[gps_sock].speed

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

@ -1,8 +1,8 @@
import copy
from collections import deque
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
@ -24,7 +24,7 @@ class CarState(CarStateBase):
self.distance_button = 0
def update(self, cp, cp_adas, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
self.prev_distance_button = self.distance_button
self.distance_button = cp.vl["CRUISE_THROTTLE"]["FOLLOW_DISTANCE_BUTTON"]

13
selfdrive/car/nissan/interface.py
Unescape View File

@ -1,26 +1,25 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import create_button_events, get_safety_config
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car import create_button_events, get_safety_config, structs
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.nissan.values import CAR
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
class CarInterface(CarInterfaceBase):
@staticmethod
def _get_params(ret: CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "nissan"
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.nissan)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.nissan)]
ret.autoResumeSng = False
ret.steerLimitTimer = 1.0
ret.steerActuatorDelay = 0.1
ret.steerControlType = CarParams.SteerControlType.angle
ret.steerControlType = structs.CarParams.SteerControlType.angle
ret.radarUnavailable = True
if candidate == CAR.NISSAN_ALTIMA:
@ -35,7 +34,7 @@ class CarInterface(CarInterfaceBase):
ret.buttonEvents = create_button_events(self.CS.distance_button, self.CS.prev_distance_button, {1: ButtonType.gapAdjustCruise})
events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
events = self.create_common_events(ret, extra_gears=[CarState.GearShifter.brake])
if self.CS.lkas_enabled:
events.add(car.CarEvent.EventName.invalidLkasSetting)

4
selfdrive/car/subaru/carstate.py
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@ -1,7 +1,7 @@
import copy
from cereal import car
from opendbc.can.can_define import CANDefine
from opendbc.can.parser import CANParser
from openpilot.selfdrive.car import structs
from openpilot.selfdrive.car.conversions import Conversions as CV
from openpilot.selfdrive.car.interfaces import CarStateBase
from openpilot.selfdrive.car.subaru.values import DBC, CanBus, SubaruFlags
@ -17,7 +17,7 @@ class CarState(CarStateBase):
self.angle_rate_calulator = CanSignalRateCalculator(50)
def update(self, cp, cp_cam, cp_body):
ret = car.CarState.new_message()
ret = structs.CarState()
throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_body.vl["Throttle_Hybrid"]
ret.gas = throttle_msg["Throttle_Pedal"] / 255.

2
selfdrive/car/tesla/carstate.py
Unescape View File

@ -21,7 +21,7 @@ class CarState(CarStateBase):
self.das_control_counters = deque(maxlen=32)
def update(self, cp, cp_cam):
ret = car.CarState.new_message()
ret = structs.CarState()
# Vehicle speed
ret.vEgoRaw = cp.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS

4
selfdrive/car/volkswagen/carstate.py
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@ -36,7 +36,7 @@ class CarState(CarStateBase):
if self.CP.flags & VolkswagenFlags.PQ:
return self.update_pq(pt_cp, cam_cp, ext_cp, trans_type)
ret = car.CarState.new_message()
ret = structs.CarState()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
@ -156,7 +156,7 @@ class CarState(CarStateBase):
return ret
def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
ret = car.CarState.new_message()
ret = structs.CarState()
# Update vehicle speed and acceleration from ABS wheel speeds.
ret.wheelSpeeds = self.get_wheel_speeds(
pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],

11
selfdrive/car/volkswagen/interface.py
Unescape View File

@ -1,11 +1,10 @@
from cereal import car
from panda import Panda
from openpilot.selfdrive.car import get_safety_config
from openpilot.selfdrive.car.structs import CarParams
from openpilot.selfdrive.car import get_safety_config, structs
from openpilot.selfdrive.car.interfaces import CarInterfaceBase
from openpilot.selfdrive.car.volkswagen.values import CAR, CANBUS, CarControllerParams, NetworkLocation, TransmissionType, GearShifter, VolkswagenFlags
ButtonType = car.CarState.ButtonEvent.Type
ButtonType = structs.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
@ -21,13 +20,13 @@ class CarInterface(CarInterfaceBase):
self.cp_ext = self.cp_cam
@staticmethod
def _get_params(ret: CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
def _get_params(ret: structs.CarParams, candidate: CAR, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True
if ret.flags & VolkswagenFlags.PQ:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagenPq)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0] or docs: # Getriebe_1
@ -50,7 +49,7 @@ class CarInterface(CarInterfaceBase):
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.volkswagen)]
ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0] or docs: # Getriebe_11

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