openpilot_comma/selfdrive/car

selfdrive/car

Check out this blog post for a high-level overview of porting a car.

Useful car porting utilities

Testing car ports in your car is very time-consuming. Check out these utilities to do basic checks on your work before running it in your car.

Cabana

View your car's CAN signals through DBC files, which openpilot uses to parse and create messages that talk to the car.

Example:

> tools/cabana/cabana '1bbe6bf2d62f58a8|2022-07-14--17-11-43'

selfdrive/debug/auto_fingerprint.py

Given a route and platform, automatically inserts FW fingerprints from the platform into the correct place in values.py

Example:

> python selfdrive/debug/auto_fingerprint.py '1bbe6bf2d62f58a8|2022-07-14--17-11-43' 'SUBARU OUTBACK 6TH GEN'
Attempting to add fw version for:  SUBARU OUTBACK 6TH GEN

selfdrive/car/tests/test_car_interfaces.py

Finds common bugs for car interfaces, without even requiring a route.

Example: Typo in signal name

> pytest selfdrive/car/tests/test_car_interfaces.py -k subaru  # replace with the brand you are working on

=====================================================================
FAILED selfdrive/car/tests/test_car_interfaces.py::TestCarInterfaces::test_car_interfaces_165_SUBARU_LEGACY_7TH_GEN - KeyError: 'CruiseControlOOPS'

selfdrive/debug/test_car_model.py

Given a route, runs most of the car interface to check for common errors like missing signals, blocked panda messages, and safety mismatches.

Example: panda safety mismatch for gasPressed

> python selfdrive/debug/test_car_model.py '4822a427b188122a|2023-08-14--16-22-21'

=====================================================================
FAIL: test_panda_safety_carstate (__main__.CarModelTestCase.test_panda_safety_carstate)
Assert that panda safety matches openpilot's carState
----------------------------------------------------------------------
Traceback (most recent call last):
  File "/home/batman/xx/openpilot/openpilot/selfdrive/car/tests/test_models.py", line 380, in test_panda_safety_carstate
    self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
AssertionError: 1 is not false : panda safety doesn't agree with openpilot: {'gasPressed': 116}

Car port structure

interface.py

Generic interface to send and receive messages from CAN (controlsd uses this to communicate with car)

fingerprints.py

Fingerprints for matching to a specific car

carcontroller.py

Builds CAN messages to send to car

carstate.py

Reads CAN from car and builds openpilot CarState message

values.py

Limits for actuation, general constants for cars, and supported car documentation

radar_interface.py

Interface for parsing radar points from the car