You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
243 lines
9.9 KiB
243 lines
9.9 KiB
from cereal import car
|
|
from selfdrive.config import Conversions as CV
|
|
from selfdrive.controls.lib.drive_helpers import create_event, EventTypes as ET
|
|
from selfdrive.controls.lib.vehicle_model import VehicleModel
|
|
from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES
|
|
from selfdrive.car.volkswagen.carstate import CarState, get_mqb_pt_can_parser, get_mqb_cam_can_parser
|
|
from common.params import Params
|
|
from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
|
|
from selfdrive.car.interfaces import CarInterfaceBase
|
|
|
|
GEAR = car.CarState.GearShifter
|
|
|
|
class CANBUS:
|
|
pt = 0
|
|
cam = 2
|
|
|
|
class CarInterface(CarInterfaceBase):
|
|
def __init__(self, CP, CarController):
|
|
self.CP = CP
|
|
self.CC = None
|
|
|
|
self.frame = 0
|
|
|
|
self.gasPressedPrev = False
|
|
self.brakePressedPrev = False
|
|
self.cruiseStateEnabledPrev = False
|
|
self.displayMetricUnitsPrev = None
|
|
self.buttonStatesPrev = BUTTON_STATES.copy()
|
|
|
|
# *** init the major players ***
|
|
self.CS = CarState(CP, CANBUS)
|
|
self.VM = VehicleModel(CP)
|
|
self.pt_cp = get_mqb_pt_can_parser(CP, CANBUS)
|
|
self.cam_cp = get_mqb_cam_can_parser(CP, CANBUS)
|
|
|
|
# sending if read only is False
|
|
if CarController is not None:
|
|
self.CC = CarController(CANBUS, CP.carFingerprint)
|
|
|
|
@staticmethod
|
|
def compute_gb(accel, speed):
|
|
return float(accel) / 4.0
|
|
|
|
@staticmethod
|
|
def get_params(candidate, fingerprint=gen_empty_fingerprint(), has_relay=False, car_fw=[]):
|
|
ret = car.CarParams.new_message()
|
|
|
|
ret.carFingerprint = candidate
|
|
ret.isPandaBlack = has_relay
|
|
|
|
if candidate == CAR.GOLF:
|
|
# Set common MQB parameters that will apply globally
|
|
ret.carName = "volkswagen"
|
|
ret.safetyModel = car.CarParams.SafetyModel.volkswagen
|
|
ret.enableCruise = True # Stock ACC still controls acceleration and braking
|
|
ret.openpilotLongitudinalControl = False
|
|
ret.steerControlType = car.CarParams.SteerControlType.torque
|
|
|
|
# Additional common MQB parameters that may be overridden per-vehicle
|
|
ret.steerRateCost = 0.5
|
|
ret.steerActuatorDelay = 0.05 # Hopefully all MQB racks are similar here
|
|
ret.steerLimitTimer = 0.4
|
|
ret.steerMaxBP = [0.] # m/s
|
|
ret.steerMaxV = [1.]
|
|
|
|
# As a starting point for speed-adjusted lateral tuning, use the example
|
|
# map speed breakpoints from a VW Tiguan (SSP 399 page 9). It's unclear
|
|
# whether the driver assist map breakpoints have any direct bearing on
|
|
# HCA assist torque, but if they're good breakpoints for the driver,
|
|
# they're probably good breakpoints for HCA as well. OP won't be driving
|
|
# 250kph/155mph but it provides interpolation scaling above 100kmh/62mph.
|
|
ret.lateralTuning.pid.kpBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
|
|
ret.lateralTuning.pid.kiBP = [0., 15 * CV.KPH_TO_MS, 50 * CV.KPH_TO_MS]
|
|
|
|
# FIXME: Per-vehicle parameters need to be reintegrated.
|
|
# For the time being, per-vehicle stuff is being archived since we
|
|
# can't auto-detect very well yet. Now that tuning is figured out,
|
|
# averaged params should work reasonably on a range of cars. Owners
|
|
# can tweak here, as needed, until we have car type auto-detection.
|
|
|
|
ret.mass = 1700 + STD_CARGO_KG
|
|
ret.wheelbase = 2.75
|
|
ret.centerToFront = ret.wheelbase * 0.45
|
|
ret.steerRatio = 15.6
|
|
ret.lateralTuning.pid.kf = 0.00006
|
|
ret.lateralTuning.pid.kpV = [0.15, 0.25, 0.60]
|
|
ret.lateralTuning.pid.kiV = [0.05, 0.05, 0.05]
|
|
tire_stiffness_factor = 0.6
|
|
|
|
ret.enableCamera = True # Stock camera detection doesn't apply to VW
|
|
ret.transmissionType = car.CarParams.TransmissionType.automatic
|
|
ret.steerRatioRear = 0.
|
|
|
|
# No support for OP longitudinal control on Volkswagen at this time.
|
|
ret.gasMaxBP = [0.]
|
|
ret.gasMaxV = [0.]
|
|
ret.brakeMaxBP = [0.]
|
|
ret.brakeMaxV = [0.]
|
|
ret.longitudinalTuning.deadzoneBP = [0.]
|
|
ret.longitudinalTuning.deadzoneV = [0.]
|
|
ret.longitudinalTuning.kpBP = [0.]
|
|
ret.longitudinalTuning.kpV = [0.]
|
|
ret.longitudinalTuning.kiBP = [0.]
|
|
ret.longitudinalTuning.kiV = [0.]
|
|
|
|
# TODO: get actual value, for now starting with reasonable value for
|
|
# civic and scaling by mass and wheelbase
|
|
ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
|
|
|
|
# TODO: start from empirically derived lateral slip stiffness for the civic and scale by
|
|
# mass and CG position, so all cars will have approximately similar dyn behaviors
|
|
ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
|
|
tire_stiffness_factor=tire_stiffness_factor)
|
|
|
|
return ret
|
|
|
|
# returns a car.CarState
|
|
def update(self, c, can_strings):
|
|
canMonoTimes = []
|
|
events = []
|
|
buttonEvents = []
|
|
params = Params()
|
|
ret = car.CarState.new_message()
|
|
|
|
# Process the most recent CAN message traffic, and check for validity
|
|
# The camera CAN has no signals we use at this time, but we process it
|
|
# anyway so we can test connectivity with can_valid
|
|
self.pt_cp.update_strings(can_strings)
|
|
self.cam_cp.update_strings(can_strings)
|
|
self.CS.update(self.pt_cp)
|
|
ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
|
|
|
|
# Wheel and vehicle speed, yaw rate
|
|
ret.wheelSpeeds.fl = self.CS.wheelSpeedFL
|
|
ret.wheelSpeeds.fr = self.CS.wheelSpeedFR
|
|
ret.wheelSpeeds.rl = self.CS.wheelSpeedRL
|
|
ret.wheelSpeeds.rr = self.CS.wheelSpeedRR
|
|
ret.vEgoRaw = self.CS.vEgoRaw
|
|
ret.vEgo = self.CS.vEgo
|
|
ret.aEgo = self.CS.aEgo
|
|
ret.standstill = self.CS.standstill
|
|
|
|
# Steering wheel position, movement, yaw rate, and driver input
|
|
ret.steeringAngle = self.CS.steeringAngle
|
|
ret.steeringRate = self.CS.steeringRate
|
|
ret.steeringTorque = self.CS.steeringTorque
|
|
ret.steeringPressed = self.CS.steeringPressed
|
|
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
|
|
ret.yawRate = self.CS.yawRate
|
|
|
|
# Gas, brakes and shifting
|
|
ret.gas = self.CS.gas
|
|
ret.gasPressed = self.CS.gasPressed
|
|
ret.brake = self.CS.brake
|
|
ret.brakePressed = self.CS.brakePressed
|
|
ret.brakeLights = self.CS.brakeLights
|
|
ret.gearShifter = self.CS.gearShifter
|
|
|
|
# Doors open, seatbelt unfastened
|
|
ret.doorOpen = self.CS.doorOpen
|
|
ret.seatbeltUnlatched = self.CS.seatbeltUnlatched
|
|
|
|
# Update the EON metric configuration to match the car at first startup,
|
|
# or if there's been a change.
|
|
if self.CS.displayMetricUnits != self.displayMetricUnitsPrev:
|
|
params.put("IsMetric", "1" if self.CS.displayMetricUnits else "0")
|
|
|
|
# Blinker switch updates
|
|
ret.leftBlinker = self.CS.buttonStates["leftBlinker"]
|
|
ret.rightBlinker = self.CS.buttonStates["rightBlinker"]
|
|
|
|
# ACC cruise state
|
|
ret.cruiseState.available = self.CS.accAvailable
|
|
ret.cruiseState.enabled = self.CS.accEnabled
|
|
ret.cruiseState.speed = self.CS.accSetSpeed
|
|
|
|
# Check for and process state-change events (button press or release) from
|
|
# the turn stalk switch or ACC steering wheel/control stalk buttons.
|
|
for button in self.CS.buttonStates:
|
|
if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
|
|
be = car.CarState.ButtonEvent.new_message()
|
|
be.type = button
|
|
be.pressed = self.CS.buttonStates[button]
|
|
buttonEvents.append(be)
|
|
|
|
# Vehicle operation safety checks and events
|
|
if ret.doorOpen:
|
|
events.append(create_event('doorOpen', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
|
if ret.seatbeltUnlatched:
|
|
events.append(create_event('seatbeltNotLatched', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
|
if ret.gearShifter == GEAR.reverse:
|
|
events.append(create_event('reverseGear', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
|
if not ret.gearShifter in [GEAR.drive, GEAR.eco, GEAR.sport]:
|
|
events.append(create_event('wrongGear', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
|
if self.CS.stabilityControlDisabled:
|
|
events.append(create_event('espDisabled', [ET.NO_ENTRY, ET.SOFT_DISABLE]))
|
|
if self.CS.parkingBrakeSet:
|
|
events.append(create_event('parkBrake', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
|
|
|
# Vehicle health safety checks and events
|
|
if self.CS.accFault:
|
|
events.append(create_event('radarFault', [ET.NO_ENTRY, ET.IMMEDIATE_DISABLE]))
|
|
if self.CS.steeringFault:
|
|
events.append(create_event('steerTempUnavailable', [ET.NO_ENTRY, ET.WARNING]))
|
|
|
|
# Per the Comma safety model, disable on pedals rising edge or when brake
|
|
# is pressed and speed isn't zero.
|
|
if (ret.gasPressed and not self.gasPressedPrev) or \
|
|
(ret.brakePressed and (not self.brakePressedPrev or not ret.standstill)):
|
|
events.append(create_event('pedalPressed', [ET.NO_ENTRY, ET.USER_DISABLE]))
|
|
if ret.gasPressed:
|
|
events.append(create_event('pedalPressed', [ET.PRE_ENABLE]))
|
|
|
|
# Engagement and longitudinal control using stock ACC. Make sure OP is
|
|
# disengaged if stock ACC is disengaged.
|
|
if not ret.cruiseState.enabled:
|
|
events.append(create_event('pcmDisable', [ET.USER_DISABLE]))
|
|
# Attempt OP engagement only on rising edge of stock ACC engagement.
|
|
elif not self.cruiseStateEnabledPrev:
|
|
events.append(create_event('pcmEnable', [ET.ENABLE]))
|
|
|
|
ret.events = events
|
|
ret.buttonEvents = buttonEvents
|
|
ret.canMonoTimes = canMonoTimes
|
|
|
|
# update previous car states
|
|
self.gasPressedPrev = ret.gasPressed
|
|
self.brakePressedPrev = ret.brakePressed
|
|
self.cruiseStateEnabledPrev = ret.cruiseState.enabled
|
|
self.displayMetricUnitsPrev = self.CS.displayMetricUnits
|
|
self.buttonStatesPrev = self.CS.buttonStates.copy()
|
|
|
|
# cast to reader so it can't be modified
|
|
return ret.as_reader()
|
|
|
|
def apply(self, c):
|
|
can_sends = self.CC.update(c.enabled, self.CS, self.frame, c.actuators,
|
|
c.hudControl.visualAlert,
|
|
c.hudControl.audibleAlert,
|
|
c.hudControl.leftLaneVisible,
|
|
c.hudControl.rightLaneVisible)
|
|
self.frame += 1
|
|
return can_sends
|
|
|