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)
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()
# 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)
ret = self.CS.update(self.pt_cp)
ret.canValid = self.pt_cp.can_valid and self.cam_cp.can_valid
ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
# 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")
# 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()
self.CS.out = ret.as_reader()
return self.CS.out
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
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.GENERICMQB:
# 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 = 1.0
ret.steerActuatorDelay = 0.1 # Hopefully all MQB racks are similar here
ret.steerLimitTimer = 0.4
ret.steerMaxBP = [0.] # m/s
ret.steerMaxV = [1.]
ret.lateralTuning.pid.kpBP = [0.]
ret.lateralTuning.pid.kiBP = [0.]
# FIXME: Per-vehicle parameters need to be reintegrated.
# Until that time, defaulting to VW Golf Mk7 as a baseline.
ret.mass = 1500 + STD_CARGO_KG
ret.wheelbase = 2.64
ret.centerToFront = ret.wheelbase * 0.45
ret.steerRatio = 15.6
ret.lateralTuning.pid.kf = 0.00006
ret.lateralTuning.pid.kpV = [0.6]
ret.lateralTuning.pid.kiV = [0.2]
tire_stiffness_factor = 1.0
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, self.cam_cp)
ret.canValid = self.pt_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 and operation safety checks
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