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76 lines
2.9 KiB
76 lines
2.9 KiB
#!/usr/bin/env python3
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from cereal import car
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from panda import Panda
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from selfdrive.car.tesla.values import CANBUS, CAR
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from selfdrive.car import STD_CARGO_KG, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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class CarInterface(CarInterfaceBase):
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@staticmethod
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def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None):
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ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
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ret.carName = "tesla"
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# There is no safe way to do steer blending with user torque,
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# so the steering behaves like autopilot. This is not
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# how openpilot should be, hence dashcamOnly
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ret.dashcamOnly = True
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ret.steerControlType = car.CarParams.SteerControlType.angle
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# Set kP and kI to 0 over the whole speed range to have the planner accel as actuator command
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ret.longitudinalTuning.kpBP = [0]
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ret.longitudinalTuning.kpV = [0]
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ret.longitudinalTuning.kiBP = [0]
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ret.longitudinalTuning.kiV = [0]
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ret.stopAccel = 0.0
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ret.startAccel = 0.0
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ret.longitudinalActuatorDelayUpperBound = 0.5 # s
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ret.radarTimeStep = (1.0 / 8) # 8Hz
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# Check if we have messages on an auxiliary panda, and that 0x2bf (DAS_control) is present on the AP powertrain bus
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# If so, we assume that it is connected to the longitudinal harness.
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if (CANBUS.autopilot_powertrain in fingerprint.keys()) and (0x2bf in fingerprint[CANBUS.autopilot_powertrain].keys()):
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ret.openpilotLongitudinalControl = True
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ret.safetyConfigs = [
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get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL),
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get_safety_config(car.CarParams.SafetyModel.tesla, Panda.FLAG_TESLA_LONG_CONTROL | Panda.FLAG_TESLA_POWERTRAIN),
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]
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else:
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ret.openpilotLongitudinalControl = False
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.tesla, 0)]
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ret.steerActuatorDelay = 0.1
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ret.steerRateCost = 0.5
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if candidate in [CAR.AP2_MODELS, CAR.AP1_MODELS]:
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ret.mass = 2100. + STD_CARGO_KG
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ret.wheelbase = 2.959
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ret.centerToFront = ret.wheelbase * 0.5
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ret.steerRatio = 13.5
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else:
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raise ValueError(f"Unsupported car: {candidate}")
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
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return ret
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def update(self, c, can_strings):
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self.cp.update_strings(can_strings)
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self.cp_cam.update_strings(can_strings)
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ret = self.CS.update(self.cp, self.cp_cam)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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events = self.create_common_events(ret)
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ret.events = events.to_msg()
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self.CS.out = ret.as_reader()
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return self.CS.out
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def apply(self, c):
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can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators, c.cruiseControl.cancel)
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self.frame += 1
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return can_sends
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