def config_ui_buttons(self, pedalPresent):
if pedalPresent:
self.btns_init[1] = [PCCModes.BUTTON_NAME, PCCModes.BUTTON_ABREVIATION, PCCModes.labels()]
else:
# we don't have pedal interceptor
self.btns_init[1] = [ACCMode.BUTTON_NAME, ACCMode.BUTTON_ABREVIATION, ACCMode.labels()]
btn = self.cstm_btns.btns[1]
btn.btn_name = self.btns_init[1][0]
btn.btn_label = self.btns_init[1][1]
btn.btn_label2 = self.btns_init[1][2][0]
btn.btn_status = 1
self.cstm_btns.update_ui_buttons(1, 1)
def config_ui_buttons(self, pcc_available, pcc_blocked_by_acc_mode):
if pcc_available:
self.btns_init[1] = [
PCCModes.BUTTON_NAME, PCCModes.BUTTON_ABREVIATION,
PCCModes.labels()
]
else:
self.btns_init[1] = [
ACCMode.BUTTON_NAME, ACCMode.BUTTON_ABREVIATION,
ACCMode.labels()
]
btn = self.cstm_btns.btns[1]
btn.btn_name = self.btns_init[1][0]
btn.btn_label = self.btns_init[1][1]
btn.btn_label2 = self.btns_init[1][2][0]
btn.btn_status = 1
if (not pcc_available) and pcc_blocked_by_acc_mode:
btn.btn_label2 = self.btns_init[1][2][1]
self.cstm_btns.update_ui_buttons(1, 1)
def __init__(self, CP):
super().__init__(CP)
self.params = Params()
self.CL_MIN_V = 8.9
self.CL_MAX_A = 20.0
# labels for buttons
self.btns_init = [
["alca", "ALC", [""]],
[
ACCMode.BUTTON_NAME, ACCMode.BUTTON_ABREVIATION,
ACCMode.labels()
],
["dsp", "DSP", ["OP", "MIN", "OFF", "GYRO"]],
["", "", [""]],
["msg", "MSG", [""]],
["sound", "SND", [""]],
]
### START OF MAIN CONFIG OPTIONS ###
### Do NOT modify here, modify in /data/bb_openpilot.cfg and reboot
self.forcePedalOverCC = True
self.usesApillarHarness = False
self.enableHSO = True
self.enableALCA = True
self.enableDasEmulation = True
self.enableRadarEmulation = True
self.enableDriverMonitor = True
self.enableShowCar = True
self.enableShowLogo = True
self.hasNoctuaFan = False
self.limitBatteryMinMax = False
self.limitBattery_Min = 60
self.limitBattery_Max = 70
self.doAutoUpdate = True
self.blockUploadWhileTethering = False
self.tetherIP = "127.0.0."
self.useTeslaGPS = False
self.useTeslaMapData = False
self.hasTeslaIcIntegration = False
self.useTeslaRadar = False
self.useWithoutHarness = False
self.radarVIN = " "
self.enableLdw = True
self.radarOffset = 0.0
self.radarPosition = 0
self.radarEpasType = 0
self.fix1916 = False
self.forceFingerprintTesla = False
self.spinnerText = ""
self.hsoNumbPeriod = 1.5
self.ldwNumbPeriod = 1.5
self.tapBlinkerExtension = 2
self.ahbOffDuration = 5
self.roadCameraID = ""
self.driverCameraID = ""
self.roadCameraFx = 0.73
self.driverCameraFx = 0.75
self.roadCameraFlip = 0
self.driverCameraFlip = 0
self.monitorForcedRes = ""
# read config file
read_config_file(self)
### END OF MAIN CONFIG OPTIONS ###
self.apEnabled = True
self.apFollowTimeInS = 2.5 # time in seconds to follow
self.keepEonOff = False
self.alcaEnabled = True
self.mapAwareSpeed = False
# Tesla Model
self.teslaModelDetected = 1
self.teslaModel = self.params.get("TeslaModel")
if self.teslaModel:
self.teslaModel = self.teslaModel.decode()
if self.teslaModel is None:
self.teslaModel = "S"
self.teslaModelDetected = 0
# for map integration
self.csaRoadCurvC3 = 0.0
self.csaRoadCurvC2 = 0.0
self.csaRoadCurvRange = 0.0
self.csaRoadCurvUsingTspline = 0
self.csaOfframpCurvC3 = 0.0
self.csaOfframpCurvC2 = 0.0
self.csaOfframpCurvRange = 0.0
self.csaOfframpCurvUsingTspline = 0
self.roadCurvHealth = 0
self.roadCurvRange = 0.0
self.roadCurvC0 = 0.0
self.roadCurvC1 = 0.0
self.roadCurvC2 = 0.0
self.roadCurvC3 = 0.0
self.meanFleetSplineSpeedMPS = 0.0
self.UI_splineID = 0
self.meanFleetSplineAccelMPS2 = 0.0
self.medianFleetSpeedMPS = 0.0
self.topQrtlFleetSplineSpeedMPS = 0.0
self.splineLocConfidence = 0
self.baseMapSpeedLimitMPS = 0.0
self.bottomQrtlFleetSpeedMPS = 0.0
self.rampType = 0
self.mapBasedSuggestedSpeed = 0.0
self.splineBasedSuggestedSpeed = 0.0
self.map_suggested_speed = 0.0
self.gpsLongitude = 0.0
self.gpsLatitude = 0.0
self.gpsAccuracy = 0.0
self.gpsElevation = 0.0
self.gpsHeading = 0.0
self.gpsVehicleSpeed = 0.0
self.speed_limit_ms = 0.0
self.userSpeedLimitOffsetKph = 0.0
self.DAS_fusedSpeedLimit = 0
self.brake_only = CP.enableCruise
self.last_cruise_stalk_pull_time = 0
self.CP = CP
self.user_gas = 0.0
self.user_gas_pressed = False
self.pedal_interceptor_state = self.prev_pedal_interceptor_state = 0
self.pedal_interceptor_value = 0.0
self.pedal_interceptor_value2 = 0.0
self.pedal_idx = self.prev_pedal_idx = 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.turn_signal_state_left = (
0 # 0 = off, 1 = on (blinking), 2 = failed, 3 = default
)
self.turn_signal_state_right = (
0 # 0 = off, 1 = on (blinking), 2 = failed, 3 = default
)
self.prev_turn_signal_blinking = False
self.turn_signal_blinking = False
self.prev_turn_signal_stalk_state = 0
self.turn_signal_stalk_state = (
0 # 0 = off, 1 = indicate left (stalk down), 2 = indicate right (stalk up)
)
self.steer_warning = 0
self.stopped = 0
# variables used for the fake DAS creation
self.DAS_info_frm = -1
self.DAS_info_msg = 0
self.DAS_status_frm = 0
self.DAS_status_idx = 0
self.DAS_status2_frm = 0
self.DAS_status2_idx = 0
self.DAS_bodyControls_frm = 0
self.DAS_bodyControls_idx = 0
self.DAS_lanes_frm = 0
self.DAS_lanes_idx = 0
self.DAS_objects_frm = 0
self.DAS_objects_idx = 0
self.DAS_pscControl_frm = 0
self.DAS_pscControl_idx = 0
self.DAS_warningMatrix0_idx = 0
self.DAS_warningMatrix1_idx = 0
self.DAS_warningMatrix3_idx = 0
self.DAS_telemetryPeriodic1_idx = 0
self.DAS_telemetryPeriodic2_idx = 0
self.DAS_telemetryEvent1_idx = 0
self.DAS_telemetryEvent2_idx = 0
self.DAS_control_idx = 0
# BB notification messages for DAS
self.DAS_canErrors = 0
self.DAS_plannerErrors = 0
self.DAS_doorOpen = 0
self.DAS_notInDrive = 0
self.summonButton = 0
# BB variables for pedal CC
self.pedal_speed_kph = 0.0
# BB UIEvents
self.UE = UIEvents(self)
# BB PCC
self.regenLight = 0
self.torqueLevel = 0.0
# BB variable for custom buttons
self.cstm_btns = UIButtons(self, "Tesla Model S", "tesla",
self.enableShowLogo, self.enableShowCar)
# BB custom message counter
self.custom_alert_counter = (
-1
) # set to 100 for 1 second display; carcontroller will take down to zero
# BB steering_wheel_stalk last position, used by ACC and ALCA
self.steering_wheel_stalk = None
# BB carConfig data used to change IC info
self.real_carConfig = None
self.real_dasHw = 0
# BB visiond last type
self.last_visiond = self.cstm_btns.btns[3].btn_label2
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(
x0=[[0.0], [0.0]],
A=[[1.0, dt], [0.0, 1.0]],
C=[1.0, 0.0],
K=[[0.12287673], [0.29666309]],
)
self.v_ego = 0.0
self.imperial_speed_units = True
# The current max allowed cruise speed. Actual cruise speed sent to the car
# may be lower, depending on traffic.
self.v_cruise_pcm = 0.0
# Actual cruise speed currently active on the car.
self.v_cruise_actual = 0.0
# ALCA params
self.ALCA_enabled = False
self.ALCA_total_steps = 100
self.ALCA_direction = 0
self.ALCA_error = False
self.angle_offset = 0.0
self.init_angle_offset = False
# AHB params
self.ahbHighBeamStalkPosition = 0
self.ahbEnabled = 0
self.ahbLoBeamOn = 0
self.ahbHiBeamOn = 0
self.ahbNightMode = 0
def __init__(self, CP):
# labels for buttons
self.btns_init = [["alca", "ALC", ["MadMax", "Normal", "Calm"]],
[ACCMode.BUTTON_NAME, ACCMode.BUTTON_ABREVIATION, ACCMode.labels()],
["steer", "STR", [""]],
["brake", "BRK", [""]],
["msg", "MSG", [""]],
["sound", "SND", [""]]]
if (CP.carFingerprint == CAR.MODELS):
# ALCA PARAMS
# max REAL delta angle for correction vs actuator
self.CL_MAX_ANGLE_DELTA_BP = [10., 44.]
self.CL_MAX_ANGLE_DELTA = [2.2, .3]
# adjustment factor for merging steer angle to actuator; should be over 4; the higher the smoother
self.CL_ADJUST_FACTOR_BP = [10., 44.]
self.CL_ADJUST_FACTOR = [16. , 8.]
# reenrey angle when to let go
self.CL_REENTRY_ANGLE_BP = [10., 44.]
self.CL_REENTRY_ANGLE = [5. , 5.]
# a jump in angle above the CL_LANE_DETECT_FACTOR means we crossed the line
self.CL_LANE_DETECT_BP = [10., 44.]
self.CL_LANE_DETECT_FACTOR = [1.5, 1.5]
self.CL_LANE_PASS_BP = [10., 20., 44.]
self.CL_LANE_PASS_TIME = [40.,10., 3.]
# change lane delta angles and other params
self.CL_MAXD_BP = [10., 32., 44.]
self.CL_MAXD_A = [.358, 0.084, 0.042] #delta angle based on speed; needs fine tune, based on Tesla steer ratio of 16.75
self.CL_MIN_V = 8.9 # do not turn if speed less than x m/2; 20 mph = 8.9 m/s
# do not turn if actuator wants more than x deg for going straight; this should be interp based on speed
self.CL_MAX_A_BP = [10., 44.]
self.CL_MAX_A = [10., 10.]
# define limits for angle change every 0.1 s
# we need to force correction above 10 deg but less than 20
# anything more means we are going to steep or not enough in a turn
self.CL_MAX_ACTUATOR_DELTA = 2.
self.CL_MIN_ACTUATOR_DELTA = 0.
self.CL_CORRECTION_FACTOR = 1.
#duration after we cross the line until we release is a factor of speed
self.CL_TIMEA_BP = [10., 32., 44.]
self.CL_TIMEA_T = [0.7 ,0.50, 0.40]
#duration to wait (in seconds) with blinkers on before starting to turn
self.CL_WAIT_BEFORE_START = 1
#END OF ALCA PARAMS
self.brake_only = CP.enableCruise
self.last_cruise_stalk_pull_time = 0
self.CP = CP
self.user_gas = 0.
self.user_gas_pressed = False
self.pedal_interceptor_state = 0
self.pedal_interceptor_value = 0.
self.pedal_interceptor_value2 = 0.
self.pedal_interceptor_missed_counter = 0
self.brake_switch_prev = 0
self.brake_switch_ts = 0
self.cruise_buttons = 0
self.blinker_on = 0
self.left_blinker_on = 0
self.right_blinker_on = 0
self.steer_warning = 0
self.stopped = 0
self.frame_humanSteered = 0 # Last frame human steered
# variables used for the fake DAS creation
self.DAS_info_frm = -1
self.DAS_info_msg = 0
self.DAS_status_frm = 0
self.DAS_status_idx = 0
self.DAS_status2_frm = 0
self.DAS_status2_idx = 0
self.DAS_bodyControls_frm = 0
self.DAS_bodyControls_idx = 0
self.DAS_lanes_frm = 0
self.DAS_lanes_idx = 0
self.DAS_objects_frm = 0
self.DAS_objects_idx = 0
self.DAS_pscControl_frm = 0
self.DAS_pscControl_idx = 0
self.DAS_warningMatrix0_idx = 0
self.DAS_warningMatrix1_idx = 0
self.DAS_warningMatrix3_idx = 0
self.DAS_telemetryPeriodic1_idx = 0
self.DAS_telemetryPeriodic2_idx = 0
self.DAS_telemetryEvent1_idx = 0
self.DAS_telemetryEvent2_idx = 0
self.DAS_control_idx = 0
#BB variables for pedal CC
self.pedal_speed_kph = 0.
# Pedal mode is ready, i.e. hardware is present and normal cruise is off.
self.pedal_interceptor_available = False
self.prev_pedal_interceptor_available = False
#BB UIEvents
self.UE = UIEvents(self)
#BB PCC
self.regenLight = 0
self.torqueLevel = 0.
#BB variable for custom buttons
self.cstm_btns = UIButtons(self,"Tesla Model S","tesla")
#BB custom message counter
self.custom_alert_counter = -1 #set to 100 for 1 second display; carcontroller will take down to zero
#BB steering_wheel_stalk last position, used by ACC and ALCA
self.steering_wheel_stalk = None
#BB carConfig data used to change IC info
self.real_carConfig = None
self.real_dasHw = 0
# vEgo kalman filter
dt = 0.01
# Q = np.matrix([[10.0, 0.0], [0.0, 100.0]])
# R = 1e3
self.v_ego_kf = KF1D(x0=np.matrix([[0.0], [0.0]]),
A=np.matrix([[1.0, dt], [0.0, 1.0]]),
C=np.matrix([1.0, 0.0]),
K=np.matrix([[0.12287673], [0.29666309]]))
self.v_ego = 0.0
self.imperial_speed_units = True
# The current max allowed cruise speed. Actual cruise speed sent to the car
# may be lower, depending on traffic.
self.v_cruise_pcm = 0.0
# Actual cruise speed currently active on the car.
self.v_cruise_actual = 0.0