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392 lines
19 KiB
392 lines
19 KiB
import numpy as np
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from opendbc.can.parser import CANParser
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from opendbc.car import Bus, structs
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from opendbc.car.interfaces import CarStateBase
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from opendbc.car.common.conversions import Conversions as CV
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from opendbc.car.volkswagen.values import DBC, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
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CarControllerParams, VolkswagenFlags
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ButtonType = structs.CarState.ButtonEvent.Type
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class CarState(CarStateBase):
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def __init__(self, CP):
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super().__init__(CP)
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self.frame = 0
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self.eps_init_complete = False
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self.CCP = CarControllerParams(CP)
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self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
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self.esp_hold_confirmation = False
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self.upscale_lead_car_signal = False
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self.eps_stock_values = False
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def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
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if not self.CP.pcmCruise:
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for b in buttonEvents:
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# Enable OP long on falling edge of enable buttons
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if b.type in (ButtonType.setCruise, ButtonType.resumeCruise) and not b.pressed:
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return True
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return False
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def create_button_events(self, pt_cp, buttons):
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button_events = []
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for button in buttons:
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state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
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if self.button_states[button.event_type] != state:
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event = structs.CarState.ButtonEvent()
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event.type = button.event_type
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event.pressed = state
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button_events.append(event)
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self.button_states[button.event_type] = state
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return button_events
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def update(self, can_parsers) -> structs.CarState:
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pt_cp = can_parsers[Bus.pt]
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cam_cp = can_parsers[Bus.cam]
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ext_cp = pt_cp if self.CP.networkLocation == NetworkLocation.fwdCamera else cam_cp
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if self.CP.flags & VolkswagenFlags.PQ:
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return self.update_pq(pt_cp, cam_cp, ext_cp)
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ret = structs.CarState()
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if self.CP.transmissionType == TransmissionType.direct:
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ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Motor_EV_01"]["MO_Waehlpos"], None))
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elif self.CP.transmissionType == TransmissionType.manual:
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ret.clutchPressed = not pt_cp.vl["Motor_14"]["MO_Kuppl_schalter"]
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if bool(pt_cp.vl["Gateway_72"]["BCM1_Rueckfahrlicht_Schalter"]):
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.drive
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else:
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ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Gateway_73"]["GE_Fahrstufe"], None))
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if True:
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# MQB-specific
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self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"]) # Analog vs digital instrument cluster
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ret.wheelSpeeds = self.get_wheel_speeds(
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pt_cp.vl["ESP_19"]["ESP_VL_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_VR_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_HL_Radgeschw_02"],
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pt_cp.vl["ESP_19"]["ESP_HR_Radgeschw_02"],
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)
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ret.yawRate = pt_cp.vl["ESP_02"]["ESP_Gierrate"] * (1, -1)[int(pt_cp.vl["ESP_02"]["ESP_VZ_Gierrate"])] * CV.DEG_TO_RAD
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hca_status = self.CCP.hca_status_values.get(pt_cp.vl["LH_EPS_03"]["EPS_HCA_Status"])
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if self.CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
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ret.carFaultedNonCritical = bool(cam_cp.vl["HCA_01"]["EA_Ruckfreigabe"]) or cam_cp.vl["HCA_01"]["EA_ACC_Sollstatus"] > 0 # EA
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drive_mode = True
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ret.gas = pt_cp.vl["Motor_20"]["MO_Fahrpedalrohwert_01"] / 100.0
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ret.brake = pt_cp.vl["ESP_05"]["ESP_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
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brake_pedal_pressed = bool(pt_cp.vl["Motor_14"]["MO_Fahrer_bremst"])
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brake_pressure_detected = bool(pt_cp.vl["ESP_05"]["ESP_Fahrer_bremst"])
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ret.brakePressed = brake_pedal_pressed or brake_pressure_detected
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ret.parkingBrake = bool(pt_cp.vl["Kombi_01"]["KBI_Handbremse"]) # FIXME: need to include an EPB check as well
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ret.doorOpen = any([pt_cp.vl["Gateway_72"]["ZV_FT_offen"],
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pt_cp.vl["Gateway_72"]["ZV_BT_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HFS_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HBFS_offen"],
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pt_cp.vl["Gateway_72"]["ZV_HD_offen"]])
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if self.CP.enableBsm:
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# Infostufe: BSM LED on, Warnung: BSM LED flashing
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ret.leftBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_li"])
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ret.rightBlindspot = bool(ext_cp.vl["SWA_01"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_01"]["SWA_Warnung_SWA_re"])
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ret.stockFcw = bool(ext_cp.vl["ACC_10"]["AWV2_Freigabe"])
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ret.stockAeb = bool(ext_cp.vl["ACC_10"]["ANB_Teilbremsung_Freigabe"]) or bool(ext_cp.vl["ACC_10"]["ANB_Zielbremsung_Freigabe"])
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self.acc_type = ext_cp.vl["ACC_06"]["ACC_Typ"]
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self.esp_hold_confirmation = bool(pt_cp.vl["ESP_21"]["ESP_Haltebestaetigung"])
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acc_limiter_mode = ext_cp.vl["ACC_02"]["ACC_Gesetzte_Zeitluecke"] == 0
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speed_limiter_mode = bool(pt_cp.vl["TSK_06"]["TSK_Limiter_ausgewaehlt"])
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ret.cruiseState.available = pt_cp.vl["TSK_06"]["TSK_Status"] in (2, 3, 4, 5)
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ret.cruiseState.enabled = pt_cp.vl["TSK_06"]["TSK_Status"] in (3, 4, 5)
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ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS if self.CP.pcmCruise else 0
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ret.accFaulted = pt_cp.vl["TSK_06"]["TSK_Status"] in (6, 7)
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ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
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ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
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# Shared logic
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ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.steeringAngleDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradwinkel"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradwinkel"])]
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ret.steeringRateDeg = pt_cp.vl["LWI_01"]["LWI_Lenkradw_Geschw"] * (1, -1)[int(pt_cp.vl["LWI_01"]["LWI_VZ_Lenkradw_Geschw"])]
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ret.steeringTorque = pt_cp.vl["LH_EPS_03"]["EPS_Lenkmoment"] * (1, -1)[int(pt_cp.vl["LH_EPS_03"]["EPS_VZ_Lenkmoment"])]
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ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
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ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status, drive_mode)
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ret.gasPressed = ret.gas > 0
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ret.espActive = bool(pt_cp.vl["ESP_21"]["ESP_Eingriff"])
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ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
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ret.seatbeltUnlatched = pt_cp.vl["Airbag_02"]["AB_Gurtschloss_FA"] != 3
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ret.standstill = ret.vEgoRaw == 0
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ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
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ret.cruiseState.nonAdaptive = acc_limiter_mode or speed_limiter_mode
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if ret.cruiseState.speed > 90:
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ret.cruiseState.speed = 0
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self.eps_stock_values = pt_cp.vl["LH_EPS_03"]
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self.ldw_stock_values = cam_cp.vl["LDW_02"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
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self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
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ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
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ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
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self.frame += 1
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return ret
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def update_pq(self, pt_cp, cam_cp, ext_cp) -> structs.CarState:
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ret = structs.CarState()
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# Update vehicle speed and acceleration from ABS wheel speeds.
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ret.wheelSpeeds = self.get_wheel_speeds(
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pt_cp.vl["Bremse_3"]["Radgeschw__VL_4_1"],
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pt_cp.vl["Bremse_3"]["Radgeschw__VR_4_1"],
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pt_cp.vl["Bremse_3"]["Radgeschw__HL_4_1"],
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pt_cp.vl["Bremse_3"]["Radgeschw__HR_4_1"],
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)
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# vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
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ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
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ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
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ret.standstill = ret.vEgoRaw == 0
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# Update EPS position and state info. For signed values, VW sends the sign in a separate signal.
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ret.steeringAngleDeg = pt_cp.vl["Lenkhilfe_3"]["LH3_BLW"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_BLWSign"])]
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ret.steeringRateDeg = pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit"] * (1, -1)[int(pt_cp.vl["Lenkwinkel_1"]["Lenkradwinkel_Geschwindigkeit_S"])]
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ret.steeringTorque = pt_cp.vl["Lenkhilfe_3"]["LH3_LM"] * (1, -1)[int(pt_cp.vl["Lenkhilfe_3"]["LH3_LMSign"])]
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ret.steeringPressed = abs(ret.steeringTorque) > self.CCP.STEER_DRIVER_ALLOWANCE
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ret.yawRate = pt_cp.vl["Bremse_5"]["BR5_Giergeschw"] * (1, -1)[int(pt_cp.vl["Bremse_5"]["BR5_Vorzeichen"])] * CV.DEG_TO_RAD
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hca_status = self.CCP.hca_status_values.get(pt_cp.vl["Lenkhilfe_2"]["LH2_Sta_HCA"])
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ret.steerFaultTemporary, ret.steerFaultPermanent = self.update_hca_state(hca_status)
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# Update gas, brakes, and gearshift.
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ret.gas = pt_cp.vl["Motor_3"]["Fahrpedal_Rohsignal"] / 100.0
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ret.gasPressed = ret.gas > 0
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ret.brake = pt_cp.vl["Bremse_5"]["BR5_Bremsdruck"] / 250.0 # FIXME: this is pressure in Bar, not sure what OP expects
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ret.brakePressed = bool(pt_cp.vl["Motor_2"]["Bremslichtschalter"])
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ret.parkingBrake = bool(pt_cp.vl["Kombi_1"]["Bremsinfo"])
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# Update gear and/or clutch position data.
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if self.CP.transmissionType == TransmissionType.automatic:
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ret.gearShifter = self.parse_gear_shifter(self.CCP.shifter_values.get(pt_cp.vl["Getriebe_1"]["Waehlhebelposition__Getriebe_1_"], None))
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elif self.CP.transmissionType == TransmissionType.manual:
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ret.clutchPressed = not pt_cp.vl["Motor_1"]["Kupplungsschalter"]
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reverse_light = bool(pt_cp.vl["Gate_Komf_1"]["GK1_Rueckfahr"])
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if reverse_light:
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ret.gearShifter = GearShifter.reverse
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else:
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ret.gearShifter = GearShifter.drive
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# Update door and trunk/hatch lid open status.
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ret.doorOpen = any([pt_cp.vl["Gate_Komf_1"]["GK1_Fa_Tuerkont"],
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pt_cp.vl["Gate_Komf_1"]["BSK_BT_geoeffnet"],
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pt_cp.vl["Gate_Komf_1"]["BSK_HL_geoeffnet"],
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pt_cp.vl["Gate_Komf_1"]["BSK_HR_geoeffnet"],
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pt_cp.vl["Gate_Komf_1"]["BSK_HD_Hauptraste"]])
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# Update seatbelt fastened status.
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ret.seatbeltUnlatched = not bool(pt_cp.vl["Airbag_1"]["Gurtschalter_Fahrer"])
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# Consume blind-spot monitoring info/warning LED states, if available.
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# Infostufe: BSM LED on, Warnung: BSM LED flashing
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if self.CP.enableBsm:
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ret.leftBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_li"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_li"])
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ret.rightBlindspot = bool(ext_cp.vl["SWA_1"]["SWA_Infostufe_SWA_re"]) or bool(ext_cp.vl["SWA_1"]["SWA_Warnung_SWA_re"])
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# Consume factory LDW data relevant for factory SWA (Lane Change Assist)
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# and capture it for forwarding to the blind spot radar controller
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self.ldw_stock_values = cam_cp.vl["LDW_Status"] if self.CP.networkLocation == NetworkLocation.fwdCamera else {}
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# Stock FCW is considered active if the release bit for brake-jerk warning
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# is set. Stock AEB considered active if the partial braking or target
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# braking release bits are set.
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# Refer to VW Self Study Program 890253: Volkswagen Driver Assistance
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# Systems, chapters on Front Assist with Braking and City Emergency
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# Braking for the 2016 Passat NMS
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# TODO: deferred until we can collect data on pre-MY2016 behavior, AWV message may be shorter with fewer signals
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ret.stockFcw = False
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ret.stockAeb = False
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# Update ACC radar status.
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self.acc_type = ext_cp.vl["ACC_System"]["ACS_Typ_ACC"]
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ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
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ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
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if self.CP.pcmCruise:
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ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
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else:
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ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
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# Update ACC setpoint. When the setpoint reads as 255, the driver has not
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# yet established an ACC setpoint, so treat it as zero.
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ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
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if ret.cruiseState.speed > 70: # 255 kph in m/s == no current setpoint
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ret.cruiseState.speed = 0
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# Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
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ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_stalk(300, pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_li"],
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pt_cp.vl["Gate_Komf_1"]["GK1_Blinker_re"])
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ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
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self.gra_stock_values = pt_cp.vl["GRA_Neu"]
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# Additional safety checks performed in CarInterface.
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ret.espDisabled = bool(pt_cp.vl["Bremse_1"]["ESP_Passiv_getastet"])
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ret.lowSpeedAlert = self.update_low_speed_alert(ret.vEgo)
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self.frame += 1
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return ret
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def update_low_speed_alert(self, v_ego: float) -> bool:
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# Low speed steer alert hysteresis logic
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if (self.CP.minSteerSpeed - 1e-3) > CarControllerParams.DEFAULT_MIN_STEER_SPEED and v_ego < (self.CP.minSteerSpeed + 1.):
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self.low_speed_alert = True
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elif v_ego > (self.CP.minSteerSpeed + 2.):
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self.low_speed_alert = False
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return self.low_speed_alert
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def update_hca_state(self, hca_status, drive_mode=True):
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# Treat FAULT as temporary for worst likely EPS recovery time, for cars without factory Lane Assist
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# DISABLED means the EPS hasn't been configured to support Lane Assist
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self.eps_init_complete = self.eps_init_complete or (hca_status in ("DISABLED", "READY", "ACTIVE") or self.frame > 600)
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perm_fault = drive_mode and hca_status == "DISABLED" or (self.eps_init_complete and hca_status == "FAULT")
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temp_fault = drive_mode and hca_status in ("REJECTED", "PREEMPTED") or not self.eps_init_complete
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return temp_fault, perm_fault
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@staticmethod
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def get_can_parsers(CP):
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if CP.flags & VolkswagenFlags.PQ:
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return CarState.get_can_parsers_pq(CP)
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pt_messages = [
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# sig_address, frequency
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("LWI_01", 100), # From J500 Steering Assist with integrated sensors
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("LH_EPS_03", 100), # From J500 Steering Assist with integrated sensors
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("ESP_19", 100), # From J104 ABS/ESP controller
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("ESP_05", 50), # From J104 ABS/ESP controller
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("ESP_21", 50), # From J104 ABS/ESP controller
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("Motor_20", 50), # From J623 Engine control module
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("TSK_06", 50), # From J623 Engine control module
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("ESP_02", 50), # From J104 ABS/ESP controller
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("GRA_ACC_01", 33), # From J533 CAN gateway (via LIN from steering wheel controls)
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("Gateway_73", 20), # From J533 CAN gateway (aggregated data)
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("Gateway_72", 10), # From J533 CAN gateway (aggregated data)
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("Motor_14", 10), # From J623 Engine control module
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("Airbag_02", 5), # From J234 Airbag control module
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("Kombi_01", 2), # From J285 Instrument cluster
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("Blinkmodi_02", 1), # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
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("Kombi_03", 0), # From J285 instrument cluster (not present on older cars, 1Hz when present)
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]
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if CP.transmissionType == TransmissionType.direct:
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pt_messages.append(("Motor_EV_01", 10)) # From J??? unknown EV control module
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if CP.networkLocation == NetworkLocation.fwdCamera:
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# Radars are here on CANBUS.pt
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pt_messages += MqbExtraSignals.fwd_radar_messages
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if CP.enableBsm:
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pt_messages += MqbExtraSignals.bsm_radar_messages
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cam_messages = []
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if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
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cam_messages += [
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("HCA_01", 1), # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
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]
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if CP.networkLocation == NetworkLocation.fwdCamera:
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cam_messages += [
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# sig_address, frequency
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("LDW_02", 10) # From R242 Driver assistance camera
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]
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else:
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# Radars are here on CANBUS.cam
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cam_messages += MqbExtraSignals.fwd_radar_messages
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if CP.enableBsm:
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cam_messages += MqbExtraSignals.bsm_radar_messages
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.pt),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
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}
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@staticmethod
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def get_can_parsers_pq(CP):
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pt_messages = [
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# sig_address, frequency
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("Bremse_1", 100), # From J104 ABS/ESP controller
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("Bremse_3", 100), # From J104 ABS/ESP controller
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("Lenkhilfe_3", 100), # From J500 Steering Assist with integrated sensors
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("Lenkwinkel_1", 100), # From J500 Steering Assist with integrated sensors
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("Motor_3", 100), # From J623 Engine control module
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("Airbag_1", 50), # From J234 Airbag control module
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("Bremse_5", 50), # From J104 ABS/ESP controller
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("GRA_Neu", 50), # From J??? steering wheel control buttons
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("Kombi_1", 50), # From J285 Instrument cluster
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("Motor_2", 50), # From J623 Engine control module
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("Motor_5", 50), # From J623 Engine control module
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("Lenkhilfe_2", 20), # From J500 Steering Assist with integrated sensors
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("Gate_Komf_1", 10), # From J533 CAN gateway
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]
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if CP.transmissionType == TransmissionType.automatic:
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pt_messages += [("Getriebe_1", 100)] # From J743 Auto transmission control module
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elif CP.transmissionType == TransmissionType.manual:
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pt_messages += [("Motor_1", 100)] # From J623 Engine control module
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if CP.networkLocation == NetworkLocation.fwdCamera:
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# Extended CAN devices other than the camera are here on CANBUS.pt
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pt_messages += PqExtraSignals.fwd_radar_messages
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if CP.enableBsm:
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pt_messages += PqExtraSignals.bsm_radar_messages
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cam_messages = []
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if CP.networkLocation == NetworkLocation.fwdCamera:
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cam_messages += [
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# sig_address, frequency
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("LDW_Status", 10) # From R242 Driver assistance camera
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]
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if CP.networkLocation == NetworkLocation.gateway:
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# Radars are here on CANBUS.cam
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cam_messages += PqExtraSignals.fwd_radar_messages
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if CP.enableBsm:
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cam_messages += PqExtraSignals.bsm_radar_messages
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return {
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Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CANBUS.pt),
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Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CANBUS.cam),
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}
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class MqbExtraSignals:
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# Additional signal and message lists for optional or bus-portable controllers
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fwd_radar_messages = [
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("ACC_06", 50), # From J428 ACC radar control module
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("ACC_10", 50), # From J428 ACC radar control module
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("ACC_02", 17), # From J428 ACC radar control module
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]
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bsm_radar_messages = [
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("SWA_01", 20), # From J1086 Lane Change Assist
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]
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class PqExtraSignals:
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# Additional signal and message lists for optional or bus-portable controllers
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fwd_radar_messages = [
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("ACC_System", 50), # From J428 ACC radar control module
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("ACC_GRA_Anzeige", 25), # From J428 ACC radar control module
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]
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bsm_radar_messages = [
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("SWA_1", 20), # From J1086 Lane Change Assist
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]
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