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openpilot is an open source driver assistance system. openpilot performs the functions of Automated Lane Centering and Adaptive Cruise Control for over 200 supported car makes and models.
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openpilot_comma/selfdrive/car/volkswagen/interface.py

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from cereal import car
from panda import Panda
from common.conversions import Conversions as CV
from selfdrive.car import STD_CARGO_KG, get_safety_config
from selfdrive.car.interfaces import CarInterfaceBase
from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
ButtonType = car.CarState.ButtonEvent.Type
EventName = car.CarEvent.EventName
class CarInterface(CarInterfaceBase):
def __init__(self, CP, CarController, CarState):
super().__init__(CP, CarController, CarState)
if CP.networkLocation == NetworkLocation.fwdCamera:
self.ext_bus = CANBUS.pt
self.cp_ext = self.cp
else:
self.ext_bus = CANBUS.cam
self.cp_ext = self.cp_cam
self.eps_timer_soft_disable_alert = False
@staticmethod
def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
ret.carName = "volkswagen"
ret.radarUnavailable = True
if candidate in PQ_CARS:
# Set global PQ35/PQ46/NMS parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
ret.enableBsm = 0x3BA in fingerprint[0] # SWA_1
if 0x440 in fingerprint[0] or docs: # Getriebe_1
ret.transmissionType = TransmissionType.automatic
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x1A0, 0xC2)): # Bremse_1, Lenkwinkel_1
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# The PQ port is in dashcam-only mode due to a fixed six-minute maximum timer on HCA steering. An unsupported
# EPS flash update to work around this timer, and enable steering down to zero, is available from:
# https://github.com/pd0wm/pq-flasher
# It is documented in a four-part blog series:
# https://blog.willemmelching.nl/carhacking/2022/01/02/vw-part1/
# Panda ALLOW_DEBUG firmware required.
ret.dashcamOnly = True
else:
# Set global MQB parameters
ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
ret.enableBsm = 0x30F in fingerprint[0] # SWA_01
if 0xAD in fingerprint[0] or docs: # Getriebe_11
ret.transmissionType = TransmissionType.automatic
elif 0x187 in fingerprint[0]: # EV_Gearshift
ret.transmissionType = TransmissionType.direct
else:
ret.transmissionType = TransmissionType.manual
if any(msg in fingerprint[1] for msg in (0x40, 0x86, 0xB2, 0xFD)): # Airbag_01, LWI_01, ESP_19, ESP_21
ret.networkLocation = NetworkLocation.gateway
else:
ret.networkLocation = NetworkLocation.fwdCamera
# Global lateral tuning defaults, can be overridden per-vehicle
ret.steerActuatorDelay = 0.1
ret.steerLimitTimer = 0.4
ret.steerRatio = 15.6 # Let the params learner figure this out
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
# Global longitudinal tuning defaults, can be overridden per-vehicle
ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
if experimental_long:
# Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
ret.openpilotLongitudinalControl = True
ret.safetyConfigs[0].safetyParam |= Panda.FLAG_VOLKSWAGEN_LONG_CONTROL
if ret.transmissionType == TransmissionType.manual:
ret.minEnableSpeed = 4.5
ret.pcmCruise = not ret.openpilotLongitudinalControl
ret.stoppingControl = True
ret.startingState = True
ret.startAccel = 1.0
ret.vEgoStarting = 1.0
ret.vEgoStopping = 1.0
ret.longitudinalTuning.kpV = [0.1]
ret.longitudinalTuning.kiV = [0.0]
# Per-chassis tuning values, override tuning defaults here if desired
if candidate == CAR.ARTEON_MK1:
ret.mass = 1733 + STD_CARGO_KG
ret.wheelbase = 2.84
elif candidate == CAR.ATLAS_MK1:
ret.mass = 2011 + STD_CARGO_KG
ret.wheelbase = 2.98
elif candidate == CAR.CRAFTER_MK2:
ret.mass = 2100 + STD_CARGO_KG
ret.wheelbase = 3.64 # SWB, LWB is 4.49, TBD how to detect difference
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
elif candidate == CAR.GOLF_MK7:
ret.mass = 1397 + STD_CARGO_KG
ret.wheelbase = 2.62
elif candidate == CAR.JETTA_MK7:
ret.mass = 1328 + STD_CARGO_KG
ret.wheelbase = 2.71
elif candidate == CAR.PASSAT_MK8:
ret.mass = 1551 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.PASSAT_NMS:
ret.mass = 1503 + STD_CARGO_KG
ret.wheelbase = 2.80
ret.minEnableSpeed = 20 * CV.KPH_TO_MS # ACC "basic", no FtS
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
elif candidate == CAR.POLO_MK6:
ret.mass = 1230 + STD_CARGO_KG
ret.wheelbase = 2.55
elif candidate == CAR.SHARAN_MK2:
ret.mass = 1639 + STD_CARGO_KG
ret.wheelbase = 2.92
ret.minSteerSpeed = 50 * CV.KPH_TO_MS
ret.steerActuatorDelay = 0.2
elif candidate == CAR.TAOS_MK1:
ret.mass = 1498 + STD_CARGO_KG
ret.wheelbase = 2.69
elif candidate == CAR.TCROSS_MK1:
ret.mass = 1150 + STD_CARGO_KG
ret.wheelbase = 2.60
elif candidate == CAR.TIGUAN_MK2:
ret.mass = 1715 + STD_CARGO_KG
ret.wheelbase = 2.74
elif candidate == CAR.TOURAN_MK2:
ret.mass = 1516 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.TRANSPORTER_T61:
ret.mass = 1926 + STD_CARGO_KG
ret.wheelbase = 3.00 # SWB, LWB is 3.40, TBD how to detect difference
ret.minSteerSpeed = 14.0
elif candidate == CAR.TROC_MK1:
ret.mass = 1413 + STD_CARGO_KG
ret.wheelbase = 2.63
elif candidate == CAR.AUDI_A3_MK3:
ret.mass = 1335 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q2_MK1:
ret.mass = 1205 + STD_CARGO_KG
ret.wheelbase = 2.61
elif candidate == CAR.AUDI_Q3_MK2:
ret.mass = 1623 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SEAT_ATECA_MK1:
ret.mass = 1900 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SEAT_LEON_MK3:
ret.mass = 1227 + STD_CARGO_KG
ret.wheelbase = 2.64
elif candidate == CAR.SKODA_FABIA_MK4:
ret.mass = 1266 + STD_CARGO_KG
ret.wheelbase = 2.56
elif candidate == CAR.SKODA_KAMIQ_MK1:
ret.mass = 1265 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KAROQ_MK1:
ret.mass = 1278 + STD_CARGO_KG
ret.wheelbase = 2.66
elif candidate == CAR.SKODA_KODIAQ_MK1:
ret.mass = 1569 + STD_CARGO_KG
ret.wheelbase = 2.79
elif candidate == CAR.SKODA_OCTAVIA_MK3:
ret.mass = 1388 + STD_CARGO_KG
ret.wheelbase = 2.68
elif candidate == CAR.SKODA_SCALA_MK1:
ret.mass = 1192 + STD_CARGO_KG
ret.wheelbase = 2.65
elif candidate == CAR.SKODA_SUPERB_MK3:
ret.mass = 1505 + STD_CARGO_KG
ret.wheelbase = 2.84
else:
raise ValueError(f"unsupported car {candidate}")
ret.autoResumeSng = ret.minEnableSpeed == -1
ret.centerToFront = ret.wheelbase * 0.45
return ret
# returns a car.CarState
def _update(self, c):
ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic],
pcm_enable=not self.CS.CP.openpilotLongitudinalControl,
enable_buttons=(ButtonType.setCruise, ButtonType.resumeCruise))
# Low speed steer alert hysteresis logic
if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
self.low_speed_alert = True
elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
self.low_speed_alert = False
if self.low_speed_alert:
events.add(EventName.belowSteerSpeed)
if self.CS.CP.openpilotLongitudinalControl:
if ret.vEgo < self.CP.minEnableSpeed + 0.5:
events.add(EventName.belowEngageSpeed)
if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
events.add(EventName.speedTooLow)
if self.eps_timer_soft_disable_alert:
events.add(EventName.steerTimeLimit)
ret.events = events.to_msg()
return ret
def apply(self, c, now_nanos):
new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
return new_actuators, can_sends