from cereal import car from panda import Panda from common.conversions import Conversions as CV from selfdrive.car import STD_CARGO_KG, get_safety_config from selfdrive.car.interfaces import CarInterfaceBase from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter ButtonType = car.CarState.ButtonEvent.Type EventName = car.CarEvent.EventName class CarInterface(CarInterfaceBase): def __init__(self, CP, CarController, CarState): super().__init__(CP, CarController, CarState) if CP.networkLocation == NetworkLocation.fwdCamera: self.ext_bus = CANBUS.pt self.cp_ext = self.cp else: self.ext_bus = CANBUS.cam self.cp_ext = self.cp_cam self.eps_timer_soft_disable_alert = False @staticmethod def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs): ret.carName = "volkswagen" ret.radarUnavailable = True if candidate in PQ_CARS: # Set global PQ35/PQ46/NMS parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)] ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1 if 0x440 in fingerprint[0] or docs: # Getriebe_1 ret.transmissionType = TransmissionType.automatic else: ret.transmissionType = TransmissionType.manual if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1 ret.networkLocation = NetworkLocation.gateway else: ret.networkLocation = NetworkLocation.fwdCamera # The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported # EPS flash update to work around this timer, and enable steering down to zero, is available from: # https://github.com/pd0wm/pq-flasher # It is documented in a four-part blog series: # https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/ # Panda ALLOW_DEBUG firmware required. ret.dashcamOnly = True else: # Set global MQB parameters ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)] ret.enableBsm = 0x30F in fingerprint[0] # SWA_01 if 0xAD in fingerprint[0] or docs: # Getriebe_11 ret.transmissionType = TransmissionType.automatic elif 0x187 in fingerprint[0]: # EV_Gearshift ret.transmissionType = TransmissionType.direct else: ret.transmissionType = TransmissionType.manual if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21 ret.networkLocation = NetworkLocation.gateway else: ret.networkLocation = NetworkLocation.fwdCamera # Global lateral tuning defaults, can be overridden per-vehicle ret.steerActuatorDelay = 0.1 ret.steerLimitTimer = 0.4 ret.steerRatio = 15.6 # Let the params learner figure this out ret.lateralTuning.pid.kpBP = [0.] ret.lateralTuning.pid.kiBP = [0.] ret.lateralTuning.pid.kf = 0.00006 ret.lateralTuning.pid.kpV = [0.6] ret.lateralTuning.pid.kiV = [0.2] # Global longitudinal tuning defaults, can be overridden per-vehicle ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs if experimental_long: # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required. ret.openpilotLongitudinalControl = True ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL if ret.transmissionType == TransmissionType.manual: ret.minEnableSpeed = 4.5 ret.pcmCruise = not ret.openpilotLongitudinalControl ret.stoppingControl = True ret.startingState = True ret.startAccel = 1.0 ret.stopAccel = -0.55 ret.vEgoStarting = 1.0 ret.vEgoStopping = 1.0 ret.longitudinalTuning.kpV = [0.1] ret.longitudinalTuning.kiV = [0.0] # Per-chassis tuning values, override tuning defaults here if desired if candidate == CAR.ARTEON_MK1: ret.mass = 1733 + STD_CARGO_KG ret.wheelbase = 2.84 elif candidate == CAR.ATLAS_MK1: ret.mass = 2011 + STD_CARGO_KG ret.wheelbase = 2.98 elif candidate == CAR.CRAFTER_MK2: ret.mass = 2100 + STD_CARGO_KG ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference ret.minSteerSpeed = 50 * CV.KPH_TO_MS elif candidate == CAR.GOLF_MK7: ret.mass = 1397 + STD_CARGO_KG ret.wheelbase = 2.62 elif candidate == CAR.JETTA_MK7: ret.mass = 1328 + STD_CARGO_KG ret.wheelbase = 2.71 elif candidate == CAR.PASSAT_MK8: ret.mass = 1551 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.PASSAT_NMS: ret.mass = 1503 + STD_CARGO_KG ret.wheelbase = 2.80 ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.steerActuatorDelay = 0.2 CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning) elif candidate == CAR.POLO_MK6: ret.mass = 1230 + STD_CARGO_KG ret.wheelbase = 2.55 elif candidate == CAR.SHARAN_MK2: ret.mass = 1639 + STD_CARGO_KG ret.wheelbase = 2.92 ret.minSteerSpeed = 50 * CV.KPH_TO_MS ret.steerActuatorDelay = 0.2 elif candidate == CAR.TAOS_MK1: ret.mass = 1498 + STD_CARGO_KG ret.wheelbase = 2.69 elif candidate == CAR.TCROSS_MK1: ret.mass = 1150 + STD_CARGO_KG ret.wheelbase = 2.60 elif candidate == CAR.TIGUAN_MK2: ret.mass = 1715 + STD_CARGO_KG ret.wheelbase = 2.74 elif candidate == CAR.TOURAN_MK2: ret.mass = 1516 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.TRANSPORTER_T61: ret.mass = 1926 + STD_CARGO_KG ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference ret.minSteerSpeed = 14.0 elif candidate == CAR.TROC_MK1: ret.mass = 1413 + STD_CARGO_KG ret.wheelbase = 2.63 elif candidate == CAR.AUDI_A3_MK3: ret.mass = 1335 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q2_MK1: ret.mass = 1205 + STD_CARGO_KG ret.wheelbase = 2.61 elif candidate == CAR.AUDI_Q3_MK2: ret.mass = 1623 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SEAT_ATECA_MK1: ret.mass = 1900 + STD_CARGO_KG ret.wheelbase = 2.64 elif candidate == CAR.SEAT_LEON_MK3: 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 elif candidate == CAR.SKODA_KAROQ_MK1: ret.mass = 1278 + STD_CARGO_KG ret.wheelbase = 2.66 elif candidate == CAR.SKODA_KODIAQ_MK1: ret.mass = 1569 + STD_CARGO_KG ret.wheelbase = 2.79 elif candidate == CAR.SKODA_OCTAVIA_MK3: ret.mass = 1388 + STD_CARGO_KG ret.wheelbase = 2.68 elif candidate == CAR.SKODA_SCALA_MK1: ret.mass = 1192 + STD_CARGO_KG ret.wheelbase = 2.65 elif candidate == CAR.SKODA_SUPERB_MK3: ret.mass = 1505 + STD_CARGO_KG ret.wheelbase = 2.84 else: raise ValueError(f"unsupported car {candidate}") ret.autoResumeSng = ret.minEnableSpeed == -1 ret.centerToFront = ret.wheelbase * 0.45 return ret # returns a car.CarState def _update(self, c): ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType) events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic], pcm_enable=not self.CS.CP.openpilotLongitudinalControl, enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise)) # Low speed steer alert hysteresis logic if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.): self.low_speed_alert = True elif ret.vEgo > (self.CP.minSteerSpeed + 2.): self.low_speed_alert = False if self.low_speed_alert: events.add(EventName.belowSteerSpeed) if self.CS.CP.openpilotLongitudinalControl: if ret.vEgo < self.CP.minEnableSpeed + 0.5: events.add(EventName.belowEngageSpeed) if c.enabled and ret.vEgo < self.CP.minEnableSpeed: events.add(EventName.speedTooLow) if self.eps_timer_soft_disable_alert: events.add(EventName.steerTimeLimit) ret.events = events.to_msg() return ret def apply(self, c, now_nanos): new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos) return new_actuators, can_sends