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252 lines
8.9 KiB
252 lines
8.9 KiB
from cereal import car
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from common.params import Params
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from panda import Panda
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from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
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from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
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from selfdrive.car.interfaces import CarInterfaceBase
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ButtonType = car.CarState.ButtonEvent.Type
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EventName = car.CarEvent.EventName
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class CarInterface(CarInterfaceBase):
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def __init__(self, CP, CarController, CarState):
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super().__init__(CP, CarController, CarState)
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self.displayMetricUnitsPrev = None
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self.buttonStatesPrev = BUTTON_STATES.copy()
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if CP.networkLocation == NetworkLocation.fwdCamera:
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self.ext_bus = CANBUS.pt
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self.cp_ext = self.cp
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else:
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self.ext_bus = CANBUS.cam
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self.cp_ext = self.cp_cam
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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 = "volkswagen"
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ret.radarOffCan = True
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if True: # pylint: disable=using-constant-test
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# Set global MQB parameters
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ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
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ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
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# Disable the radar and let openpilot control longitudinal
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# WARNING: THIS DISABLES FACTORY FCW/AEB!
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if Params().get_bool("DisableRadar"):
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ret.pcmCruise = False
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ret.openpilotLongitudinalControl = True
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ret.directAccelControl = True
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ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONGITUDINAL
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if 0xAD in fingerprint[0]: # Getriebe_11
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ret.transmissionType = TransmissionType.automatic
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elif 0x187 in fingerprint[0]: # EV_Gearshift
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ret.transmissionType = TransmissionType.direct
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else:
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ret.transmissionType = TransmissionType.manual
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if any(msg in fingerprint[1] for msg in [0x40, 0x86, 0xB2, 0xFD]): # Airbag_01, LWI_01, ESP_19, ESP_21
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ret.networkLocation = NetworkLocation.gateway
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else:
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ret.networkLocation = NetworkLocation.fwdCamera
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# Global lateral tuning defaults, can be overridden per-vehicle
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ret.steerActuatorDelay = 0.05
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ret.steerRateCost = 1.0
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ret.steerLimitTimer = 0.4
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ret.steerRatio = 15.6 # Let the params learner figure this out
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tire_stiffness_factor = 1.0 # Let the params learner figure this out
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ret.lateralTuning.pid.kpBP = [0.]
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ret.lateralTuning.pid.kiBP = [0.]
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ret.lateralTuning.pid.kf = 0.00006
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ret.lateralTuning.pid.kpV = [0.6]
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ret.lateralTuning.pid.kiV = [0.2]
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# Global longitudinal tuning defaults, can be overridden per-vehicle
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ret.longitudinalActuatorDelayUpperBound = 1.0 # s
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ret.minSpeedCan = 0.0
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ret.stoppingControl = True
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ret.vEgoStopping = 1.0
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ret.stopAccel = 0.0
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ret.startAccel = 0.0
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ret.longitudinalTuning.kpV = [0.1]
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ret.longitudinalTuning.kiV = [0.0]
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# Per-chassis tuning values, override tuning defaults here if desired
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if candidate == CAR.ARTEON_MK1:
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ret.mass = 1733 + STD_CARGO_KG
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ret.wheelbase = 2.84
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elif candidate == CAR.ATLAS_MK1:
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ret.mass = 2011 + STD_CARGO_KG
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ret.wheelbase = 2.98
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elif candidate == CAR.GOLF_MK7:
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ret.mass = 1397 + STD_CARGO_KG
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ret.wheelbase = 2.62
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elif candidate == CAR.JETTA_MK7:
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ret.mass = 1328 + STD_CARGO_KG
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ret.wheelbase = 2.71
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elif candidate == CAR.PASSAT_MK8:
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ret.mass = 1551 + STD_CARGO_KG
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ret.wheelbase = 2.79
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elif candidate == CAR.POLO_MK6:
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ret.mass = 1230 + STD_CARGO_KG
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ret.wheelbase = 2.55
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elif candidate == CAR.TAOS_MK1:
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ret.mass = 1498 + STD_CARGO_KG
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ret.wheelbase = 2.69
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elif candidate == CAR.TCROSS_MK1:
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ret.mass = 1150 + STD_CARGO_KG
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ret.wheelbase = 2.60
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elif candidate == CAR.TIGUAN_MK2:
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ret.mass = 1715 + STD_CARGO_KG
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ret.wheelbase = 2.74
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elif candidate == CAR.TOURAN_MK2:
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ret.mass = 1516 + STD_CARGO_KG
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ret.wheelbase = 2.79
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elif candidate == CAR.TRANSPORTER_T61:
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ret.mass = 1926 + STD_CARGO_KG
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ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
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ret.minSteerSpeed = 14.0
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elif candidate == CAR.AUDI_A3_MK3:
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ret.mass = 1335 + STD_CARGO_KG
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ret.wheelbase = 2.61
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elif candidate == CAR.AUDI_Q2_MK1:
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ret.mass = 1205 + STD_CARGO_KG
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ret.wheelbase = 2.61
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elif candidate == CAR.SEAT_ATECA_MK1:
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ret.mass = 1900 + STD_CARGO_KG
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ret.wheelbase = 2.64
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elif candidate == CAR.SEAT_LEON_MK3:
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ret.mass = 1227 + STD_CARGO_KG
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ret.wheelbase = 2.64
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elif candidate == CAR.SKODA_KAMIQ_MK1:
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ret.mass = 1265 + STD_CARGO_KG
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ret.wheelbase = 2.66
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elif candidate == CAR.SKODA_KAROQ_MK1:
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ret.mass = 1278 + STD_CARGO_KG
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ret.wheelbase = 2.66
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elif candidate == CAR.SKODA_KODIAQ_MK1:
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ret.mass = 1569 + STD_CARGO_KG
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ret.wheelbase = 2.79
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elif candidate == CAR.SKODA_OCTAVIA_MK3:
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ret.mass = 1388 + STD_CARGO_KG
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ret.wheelbase = 2.68
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elif candidate == CAR.SKODA_SCALA_MK1:
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ret.mass = 1192 + STD_CARGO_KG
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ret.wheelbase = 2.65
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elif candidate == CAR.SKODA_SUPERB_MK3:
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ret.mass = 1505 + STD_CARGO_KG
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ret.wheelbase = 2.84
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else:
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raise ValueError("unsupported car %s" % candidate)
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ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
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ret.centerToFront = ret.wheelbase * 0.45
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ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
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tire_stiffness_factor=tire_stiffness_factor)
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return ret
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# returns a car.CarState
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def update(self, c, can_strings):
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buttonEvents = []
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# Process the most recent CAN message traffic, and check for validity
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# The camera CAN has no signals we use at this time, but we process it
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# anyway so we can test connectivity with can_valid
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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, self.cp_ext, self.CP.transmissionType)
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ret.canValid = self.cp.can_valid and self.cp_cam.can_valid
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ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
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# TODO: add a field for this to carState, car interface code shouldn't write params
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# Update the device metric configuration to match the car at first startup,
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# or if there's been a change.
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#if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
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# put_nonblocking("IsMetric", "1" if self.CS.displayMetricUnits else "0")
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# Check for and process state-change events (button press or release) from
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# the turn stalk switch or ACC steering wheel/control stalk buttons.
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for button in self.CS.buttonStates:
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if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
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be = car.CarState.ButtonEvent.new_message()
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be.type = button
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be.pressed = self.CS.buttonStates[button]
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buttonEvents.append(be)
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events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
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pcm_enable=not self.CS.CP.openpilotLongitudinalControl)
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# Vehicle health and operation safety checks
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if self.CS.parkingBrakeSet:
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events.add(EventName.parkBrake)
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if self.CS.tsk_status in [6, 7]:
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events.add(EventName.accFaulted)
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# Low speed steer alert hysteresis logic
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if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
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self.low_speed_alert = True
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elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
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self.low_speed_alert = False
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if self.low_speed_alert:
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events.add(EventName.belowSteerSpeed)
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if self.CS.CP.openpilotLongitudinalControl:
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for b in buttonEvents:
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# do enable on falling edge of both accel and decel buttons
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if b.type in [ButtonType.setCruise, ButtonType.resumeCruise] and not b.pressed:
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events.add(EventName.buttonEnable)
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# do disable on rising edge of cancel
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if b.type == "cancel" and b.pressed:
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events.add(EventName.buttonCancel)
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ret.events = events.to_msg()
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ret.buttonEvents = buttonEvents
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# update previous car states
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self.displayMetricUnitsPrev = self.CS.displayMetricUnits
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self.buttonStatesPrev = self.CS.buttonStates.copy()
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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, self.ext_bus, c.actuators,
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c.hudControl.visualAlert,
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c.hudControl.leftLaneVisible,
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c.hudControl.rightLaneVisible,
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c.hudControl.leftLaneDepart,
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c.hudControl.rightLaneDepart,
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c.hudControl.leadVisible,
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c.hudControl.setSpeed)
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self.frame += 1
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return can_sends
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