#!/usr/bin/env python3 import os import time import cereal.messaging as messaging from cereal import car from panda import ALTERNATIVE_EXPERIENCE from openpilot.common.params import Params from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper from openpilot.common.swaglog import cloudlog, ForwardingHandler from openpilot.selfdrive.pandad import can_capnp_to_list, can_list_to_can_capnp from openpilot.selfdrive.car import DT_CTRL, carlog from openpilot.selfdrive.car.can_definitions import CanData, CanRecvCallable, CanSendCallable from openpilot.selfdrive.car.car_specific import CarSpecificEvents, MockCarState from openpilot.selfdrive.car.fw_versions import ObdCallback from openpilot.selfdrive.car.car_helpers import get_car from openpilot.selfdrive.car.interfaces import CarInterfaceBase from openpilot.selfdrive.controls.lib.events import Events REPLAY = "REPLAY" in os.environ EventName = car.CarEvent.EventName # forward carlog.addHandler(ForwardingHandler(cloudlog)) def obd_callback(params: Params) -> ObdCallback: def set_obd_multiplexing(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") return set_obd_multiplexing def can_comm_callbacks(logcan: messaging.SubSocket, sendcan: messaging.PubSocket) -> tuple[CanRecvCallable, CanSendCallable]: def can_recv(wait_for_one: bool = False) -> list[list[CanData]]: """ wait_for_one: wait the normal logcan socket timeout for a CAN packet, may return empty list if nothing comes Returns: CAN packets comprised of CanData objects for easy access """ ret = [] for can in messaging.drain_sock(logcan, wait_for_one=wait_for_one): ret.append([CanData(msg.address, msg.dat, msg.src) for msg in can.can]) return ret def can_send(msgs: list[CanData]) -> None: sendcan.send(can_list_to_can_capnp(msgs, msgtype='sendcan')) return can_recv, can_send class Car: CI: CarInterfaceBase def __init__(self, CI=None) -> None: self.can_sock = messaging.sub_sock('can', timeout=20) self.sm = messaging.SubMaster(['pandaStates', 'carControl', 'onroadEvents']) self.pm = messaging.PubMaster(['sendcan', 'carState', 'carParams', 'carOutput']) self.can_rcv_cum_timeout_counter = 0 self.CC_prev = car.CarControl.new_message() self.CS_prev = car.CarState.new_message() self.initialized_prev = False self.last_actuators_output = car.CarControl.Actuators.new_message() self.params = Params() self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan']) if CI is None: # wait for one pandaState and one CAN packet print("Waiting for CAN messages...") while True: can = messaging.recv_one_retry(self.can_sock) if len(can.can) > 0: break experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates) cached_params = None cached_params_raw = self.params.get("CarParamsCache") if cached_params_raw is not None: with car.CarParams.from_bytes(cached_params_raw) as _cached_params: cached_params = _cached_params self.CI = get_car(*self.can_callbacks, obd_callback(self.params), experimental_long_allowed, num_pandas, cached_params) self.CP = self.CI.CP # continue onto next fingerprinting step in pandad self.params.put_bool("FirmwareQueryDone", True) else: self.CI, self.CP = CI, CI.CP # set alternative experiences from parameters self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator") self.CP.alternativeExperience = 0 if not self.disengage_on_accelerator: self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS openpilot_enabled_toggle = self.params.get_bool("OpenpilotEnabledToggle") controller_available = self.CI.CC is not None and openpilot_enabled_toggle and not self.CP.dashcamOnly self.CP.passive = not controller_available or self.CP.dashcamOnly if self.CP.passive: safety_config = car.CarParams.SafetyConfig.new_message() safety_config.safetyModel = car.CarParams.SafetyModel.noOutput self.CP.safetyConfigs = [safety_config] # Write previous route's CarParams prev_cp = self.params.get("CarParamsPersistent") if prev_cp is not None: self.params.put("CarParamsPrevRoute", prev_cp) # Write CarParams for controls and radard cp_bytes = self.CP.to_bytes() self.params.put("CarParams", cp_bytes) self.params.put_nonblocking("CarParamsCache", cp_bytes) self.params.put_nonblocking("CarParamsPersistent", cp_bytes) self.events = Events() self.car_events = CarSpecificEvents(self.CP) self.mock_carstate = MockCarState() # card is driven by can recv, expected at 100Hz self.rk = Ratekeeper(100, print_delay_threshold=None) def state_update(self) -> car.CarState: """carState update loop, driven by can""" # Update carState from CAN can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True) CS = self.CI.update(can_capnp_to_list(can_strs)) if self.CP.carName == 'mock': CS = self.mock_carstate.update(CS) self.sm.update(0) can_rcv_valid = len(can_strs) > 0 # Check for CAN timeout if not can_rcv_valid: self.can_rcv_cum_timeout_counter += 1 if can_rcv_valid and REPLAY: self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime return CS def update_events(self, CS: car.CarState) -> car.CarState: self.events.clear() CS.events = self.car_events.update(self.CI.CS, self.CS_prev, self.CI.CC, self.CC_prev).to_msg() self.events.add_from_msg(CS.events) if self.CP.notCar: # wait for everything to init first if self.sm.frame > int(5. / DT_CTRL) and self.initialized_prev: # body always wants to enable self.events.add(EventName.pcmEnable) # Disable on rising edge of accelerator or brake. Also disable on brake when speed > 0 if (CS.gasPressed and not self.CS_prev.gasPressed and self.disengage_on_accelerator) or \ (CS.brakePressed and (not self.CS_prev.brakePressed or not CS.standstill)) or \ (CS.regenBraking and (not self.CS_prev.regenBraking or not CS.standstill)): self.events.add(EventName.pedalPressed) CS.events = self.events.to_msg() def state_publish(self, CS: car.CarState): """carState and carParams publish loop""" # carParams - logged every 50 seconds (> 1 per segment) if self.sm.frame % int(50. / DT_CTRL) == 0: cp_send = messaging.new_message('carParams') cp_send.valid = True cp_send.carParams = self.CP self.pm.send('carParams', cp_send) # publish new carOutput co_send = messaging.new_message('carOutput') co_send.valid = self.sm.all_checks(['carControl']) co_send.carOutput.actuatorsOutput = self.last_actuators_output self.pm.send('carOutput', co_send) # kick off controlsd step while we actuate the latest carControl packet cs_send = messaging.new_message('carState') cs_send.valid = CS.canValid cs_send.carState = CS cs_send.carState.canErrorCounter = self.can_rcv_cum_timeout_counter cs_send.carState.cumLagMs = -self.rk.remaining * 1000. self.pm.send('carState', cs_send) def controls_update(self, CS: car.CarState, CC: car.CarControl): """control update loop, driven by carControl""" if not self.initialized_prev: # Initialize CarInterface, once controls are ready # TODO: this can make us miss at least a few cycles when doing an ECU knockout self.CI.init(self.CP, *self.can_callbacks) # signal pandad to switch to car safety mode self.params.put_bool_nonblocking("ControlsReady", True) if self.sm.all_alive(['carControl']): # send car controls over can now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9) self.last_actuators_output, can_sends = self.CI.apply(CC, now_nanos) self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid)) self.CC_prev = CC def step(self): CS = self.state_update() self.update_events(CS) self.state_publish(CS) initialized = (not any(e.name == EventName.controlsInitializing for e in self.sm['onroadEvents']) and self.sm.seen['onroadEvents']) if not self.CP.passive and initialized: self.controls_update(CS, self.sm['carControl']) self.initialized_prev = initialized self.CS_prev = CS.as_reader() def card_thread(self): while True: self.step() self.rk.monitor_time() def main(): config_realtime_process(4, Priority.CTRL_HIGH) car = Car() car.card_thread() if __name__ == "__main__": main()