def __init__(self, dbc_name, CP, VM):
self.start_time = 0.
self.apply_steer_last = 0
self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False
self.fcw_count = 0
self.params = CarControllerParams()
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
self.debug_logging = False
self.debug_log_time_step = 0.333
self.last_debug_log_t = 0.
if self.debug_logging:
with open("/data/openpilot/coast_debug.csv", "w") as f:
f.write(",".join([
"t", "long plan", "d (m/s)", "v", "vEgo", "v_cruise",
"v (mph)", "vEgo (mph)", "v_cruise (mph)", "ttc",
"coast gas lockout", "coast brake lockout", "gas in",
"brake in", "one-pedal", "coasting enabled", "no f brakes",
"gas out", "brake out"
]) + "\n")
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.last_angle = 0
self.long_control_counter = 0
self.packer = CANPacker(dbc_name)
self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
def __init__(self, dbc_name, CP, VM):
self.start_time = 0.
self.apply_steer_last = 0
self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False
self.params = CarControllerParams()
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
self.acc_bus = CANBUS.pt if CP.networkLocation == NWL.fwdCamera else CANBUS.cam
if CP.safetyModel == car.CarParams.SafetyModel.volkswagen:
self.create_steering_control = volkswagencan.create_mqb_steering_control
self.create_acc_buttons_control = volkswagencan.create_mqb_acc_buttons_control
self.create_hud_control = volkswagencan.create_mqb_hud_control
elif CP.safetyModel == car.CarParams.SafetyModel.volkswagenPq:
self.create_steering_control = volkswagencan.create_pq_steering_control
self.create_acc_buttons_control = volkswagencan.create_pq_acc_buttons_control
self.create_hud_control = volkswagencan.create_pq_hud_control
self.hcaSameTorqueCount = 0
self.hcaEnabledFrameCount = 0
self.graButtonStatesToSend = None
self.graMsgSentCount = 0
self.graMsgStartFramePrev = 0
self.graMsgBusCounterPrev = 0
self.steer_rate_limited = False
# dp
self.last_blinker_on = False
self.blinker_end_frame = 0.
def __init__(self, dbc_name, car_fingerprint):
self.packer = CANPacker(dbc_name)
self.car_fingerprint = car_fingerprint
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_resume_frame = 0
self.last_lead_distance = 0
self.turning_signal_timer = 0
self.lkas_button = 1
self.lkas_button_last = 0
self.longcontrol = 0 #TODO: make auto
self.cnt = 0
self.checksum = "NONE"
self.checksum_learn_cnt = 0
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.lkas = False
self.spas_present = True # TODO Make Automatic
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.es_distance_cnt = -1
self.es_accel_cnt = -1
self.es_lkas_cnt = -1
self.fake_button_prev = 0
self.steer_rate_limited = False
self.throttle_cnt = -1
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
#self.params = CarControllerParams
#SUBARU STOP AND GO flags and vars
self.prev_cruise_state = -1
self.cruise_state_change_time = -1
self.sng_throttle_tap_cnt = 0
self.sng_resume_acc = False
self.sng_has_recorded_distance = False
self.sng_distance_threshold = CarControllerParams.SNG_DISTANCE_LIMIT
#SUBARU STOP AND GO - Pre-Global only
self.prev_close_distance = -1
#SUBARU NON-EPB
self.brake_pedal_cnt = -1
self.prev_standstill = False
self.standstill_transition_timestamp = -1
self.sng_send_fake_speed = False
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.turning_indicator_alert = False
param = Params()
self.mad_mode_enabled = param.get_bool('MadModeEnabled')
self.ldws_opt = param.get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = param.get_bool('StockNaviDecelEnabled')
self.keep_steering_turn_signals = param.get_bool(
'KeepSteeringTurnSignals')
self.warning_over_speed_limit = param.get_bool('WarningOverSpeedLimit')
# gas_factor, brake_factor
# Adjust it in the range of 0.7 to 1.3
self.scc_smoother = SccSmoother()
self.last_blinker_frame = 0
def __init__(self, canbus, car_fingerprint):
self.pedal_steady = 0.
self.start_time = 0.
self.steer_idx = 0
self.apply_steer_last = 0
self.car_fingerprint = car_fingerprint
self.lka_icon_status_last = (False, False)
self.steer_rate_limited = False
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.canbus = canbus
self.params = CarControllerParams(car_fingerprint)
self.packer_pt = CANPacker(DBC[car_fingerprint]['pt'])
self.packer_ch = CANPacker(DBC[car_fingerprint]['chassis'])
def test_civic(self):
dbc_file = "honda_civic_touring_2016_can_generated"
signals = [
("STEER_TORQUE", "STEERING_CONTROL", 0),
("STEER_TORQUE_REQUEST", "STEERING_CONTROL", 0),
]
checks = [("STEERING_CONTROL", 50)]
parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)
idx = 0
for steer in range(-256, 255):
for active in [1, 0]:
values = {
"STEER_TORQUE": steer,
"STEER_TORQUE_REQUEST": active,
}
msgs = packer.make_can_msg("STEERING_CONTROL", 0, values, idx)
bts = can_list_to_can_capnp([msgs])
parser.update_string(bts)
self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE"], steer)
self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["STEER_TORQUE_REQUEST"], active)
self.assertAlmostEqual(parser.vl["STEERING_CONTROL"]["COUNTER"], idx % 4)
idx += 1
def __init__(self, dbc_name, CP, VM):
self.last_steer = 0
self.accel_steady = 0.
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.last_fault_frame = -200
self.steer_rate_limited = False
self.fake_ecus = set()
if CP.enableCamera: self.fake_ecus.add(Ecu.fwdCamera)
if CP.enableDsu: self.fake_ecus.add(Ecu.dsu)
self.packer = CANPacker(dbc_name)
# dp
self.dragon_enable_steering_on_signal = False
self.dragon_lat_ctrl = True
self.dragon_lane_departure_warning = True
self.dragon_toyota_sng_mod = False
self.dp_last_modified = None
self.last_blinker_on = False
self.blinker_end_frame = 0
self.dragon_blinker_off_timer = 0.
def __init__(self, dbc_name, CP, VM):
self.last_steer = 0
self.accel_steady = 0.
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.standstill_hack = opParams().get('standstill_hack')
self.steer_rate_limited = False
self.fake_ecus = set()
if CP.enableCamera:
self.fake_ecus.add(Ecu.fwdCamera)
if CP.enableDsu:
self.fake_ecus.add(Ecu.dsu)
self.packer = CANPacker(dbc_name)
self.lead_v = 100
self.lead_a = 0
self.lead_d = 250
self.sm = messaging.SubMaster(['radarState', 'controlsState'])
#self.sm = messaging.SubMaster(['radarState'])
self.LCS = ""
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above_timer = 0
self.mode_change_timer = 0
self.params = Params()
self.mode_change_switch = int(self.params.get('CruiseStatemodeSelInit'))
self.opkr_variablecruise = int(self.params.get('OpkrVariableCruise'))
self.opkr_autoresume = int(self.params.get('OpkrAutoResume'))
self.steer_mode = ""
self.mdps_status = ""
self.lkas_switch = ""
self.timer1 = tm.CTime1000("time")
self.SC = Spdctrl()
self.model_speed = 0
self.model_sum = 0
self.dRel = 0
self.yRel = 0
self.vRel = 0
self.cruise_gap = 0.0
self.cruise_gap_prev = 0
self.cruise_gap_set_init = 0
self.cruise_gap_switch_timer = 0
self.lkas_button_on = True
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
if CP.lateralTuning.which() == 'pid':
self.str_log2 = 'TUNE={:0.2f}/{:0.3f}/{:0.5f}'.format(CP.lateralTuning.pid.kpV[1], CP.lateralTuning.pid.kiV[1], CP.lateralTuning.pid.kf)
elif CP.lateralTuning.which() == 'indi':
self.str_log2 = 'TUNE={:03.1f}/{:03.1f}/{:03.1f}/{:03.1f}'.format(CP.lateralTuning.indi.innerLoopGain, CP.lateralTuning.indi.outerLoopGain, CP.lateralTuning.indi.timeConstant, CP.lateralTuning.indi.actuatorEffectiveness)
elif CP.lateralTuning.which() == 'lqr':
self.str_log2 = 'TUNE={:04.0f}/{:05.3f}/{:06.4f}'.format(CP.lateralTuning.lqr.scale, CP.lateralTuning.lqr.ki, CP.lateralTuning.lqr.dcGain)
if CP.spasEnabled:
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.spas_always = False
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.cp_oplongcontrol = CP.openpilotLongitudinalControl
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.accel_lim_prev = 0.
self.accel_lim = 0.
self.steer_rate_limited = False
self.p = SteerLimitParams(CP)
self.usestockscc = True
self.lead_visible = False
self.lead_debounce = 0
self.gapsettingdance = 2
self.gapcount = 0
self.current_veh_speed = 0
self.lfainFingerprint = CP.lfaAvailable
self.vdiff = 0
self.resumebuttoncnt = 0
self.lastresumeframe = 0
self.fca11supcnt = self.fca11inc = self.fca11alivecnt = self.fca11cnt13 = self.scc11cnt = self.scc12cnt = 0
self.counter_init = False
self.fca11maxcnt = 0xD
self.radarDisableActivated = False
self.radarDisableResetTimer = 0
self.radarDisableOverlapTimer = 0
self.sendaccmode = not CP.radarDisablePossible
self.enabled = False
self.sm = messaging.SubMaster(['controlsState'])
self.lanechange_manual_timer = 0
self.emergency_manual_timer = 0
self.driver_steering_torque_above_timer = 0
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.lkas_max_torque = 0
self.last_angle = 0
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.prev_frame = -1
self.lkas_frame = -1
self.prev_lkas_counter = -1
self.hud_count = 0
self.car_fingerprint = CP.carFingerprint
self.torq_enabled = False
self.steer_rate_limited = False
self.last_button_counter = -1
self.button_frame = -1
self.packer = CANPacker(dbc_name)
self.params = Params()
self.cachedParams = CachedParams()
self.opParams = opParams()
self.auto_resume = self.params.get_bool('jvePilot.settings.autoResume')
self.minAccSetting = V_CRUISE_MIN_MS if self.params.get_bool(
"IsMetric") else V_CRUISE_MIN_IMPERIAL_MS
self.round_to_unit = CV.MS_TO_KPH if self.params.get_bool(
"IsMetric") else CV.MS_TO_MPH
self.autoFollowDistanceLock = None
self.moving_fast = False
self.min_steer_check = self.opParams.get("steer.checkMinimum")
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.accel = 0
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.turning_indicator_alert = False
param = Params()
self.mad_mode_enabled = param.get_bool('MadModeEnabled')
self.ldws_opt = param.get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = param.get_bool('StockNaviDecelEnabled')
self.keep_steering_turn_signals = param.get_bool(
'KeepSteeringTurnSignals')
self.haptic_feedback_speed_camera = param.get_bool(
'HapticFeedbackWhenSpeedCamera')
self.scc_smoother = SccSmoother()
self.last_blinker_frame = 0
self.prev_active_cam = False
self.active_cam_timer = 0
def __init__(self, dbc_name, CP, VM):
self.CP = CP
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.steer_rate_limited = False
# resume
self.resume_cnt = 0
self.last_resume_frame = 0
self.last_lead_distance = 0
self.lkas11_cnt = 0
# hud
self.hud_timer_left = 0
self.hud_timer_right = 0
self.enable_time = 0
self.steer_torque_over_timer = 0
self.steer_torque_ratio = 1
self.timer1 = tm.CTime1000("time")
self.SC = SpdctrlSlow()
self.model_speed = 0
self.model_sum = 0
def __init__(self, dbc_name, CP, VM):
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.cp_oplongcontrol = CP.openpilotLongitudinalControl
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.steer_rate_limited = False
self.usestockscc = True
self.lead_visible = False
self.lead_debounce = 0
self.apply_accel_last = 0
self.gapsettingdance = 2
self.gapcount = 0
self.current_veh_speed = 0
self.lfainFingerprint = CP.lfaAvailable
self.vdiff = 0
self.resumebuttoncnt = 0
self.lastresumeframe = 0
self.scc12cnt = 0
self.smartspeed = 20.
self.recordsetspeed = 20.
self.setspeed = 0.
self.button_cnt = 0
self.last_button_frame = 0
self.stopcontrolupdate = False
self.last_button_frame = 0
self.button_set_stop = self.button_res_stop = 0
self.sm = messaging.SubMaster(['radarState'])
def __init__(self, dbc_name, car_fingerprint, enable_camera, enable_dsu,
enable_apg):
self.braking = False
# redundant safety check with the board
self.controls_allowed = True
self.last_steer = 0
self.last_angle = 0
self.accel_steady = 0.
self.car_fingerprint = car_fingerprint
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.angle_control = False
self.steer_angle_enabled = False
self.ipas_reset_counter = 0
self.last_fault_frame = -200
self.steer_rate_limited = False
self.fake_ecus = set()
if enable_camera: self.fake_ecus.add(Ecu.fwdCamera)
if enable_dsu: self.fake_ecus.add(Ecu.dsu)
if enable_apg: self.fake_ecus.add(Ecu.apgs)
self.packer = CANPacker(dbc_name)
def test_parser_can_valid(self):
signals = [
("COUNTER", "CAN_FD_MESSAGE"),
]
checks = [
("CAN_FD_MESSAGE", 10),
]
packer = CANPacker(TEST_DBC)
parser = CANParser(TEST_DBC, signals, checks, 0)
# shouldn't be valid initially
self.assertFalse(parser.can_valid)
# not valid until the message is seen
for _ in range(100):
dat = can_list_to_can_capnp([])
parser.update_string(dat)
self.assertFalse(parser.can_valid)
# valid once seen
for i in range(1, 100):
t = int(0.01 * i * 1e9)
msg = packer.make_can_msg("CAN_FD_MESSAGE", 0, {})
dat = can_list_to_can_capnp([
msg,
], logMonoTime=t)
parser.update_string(dat)
self.assertTrue(parser.can_valid)
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = -1
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
self.mad_mode_enabled = Params().get_bool('MadModeEnabled')
self.ldws_opt = Params().get_bool('IsLdwsCar')
self.stock_navi_decel_enabled = Params().get_bool(
'StockNaviDecelEnabled')
# gas_factor, brake_factor
# Adjust it in the range of 0.7 to 1.3
self.scc_smoother = SccSmoother()
def __init__(self, dbc_name, CP, VM):
self.car_fingerprint = CP.carFingerprint
self.packer = CANPacker(dbc_name)
self.accel_steady = 0
self.apply_steer_last = 0
self.steer_rate_limited = False
self.lkas11_cnt = 0
self.scc12_cnt = 0
self.resume_cnt = 0
self.last_lead_distance = 0
self.resume_wait_timer = 0
self.turning_signal_timer = 0
self.longcontrol = CP.openpilotLongitudinalControl
self.scc_live = not CP.radarOffCan
if CP.spasEnabled:
self.en_cnt = 0
self.apply_steer_ang = 0.0
self.en_spas = 3
self.mdps11_stat_last = 0
self.spas_always = False
self.scc_smoother = SccSmoother(accel_gain=1.0, decel_gain=1.0, curvature_gain=0.8)
def test_honda_checksum(self):
"""Test checksums for Honda standard and extended CAN ids"""
dbc_file = "honda_accord_2018_can_generated"
signals = [
("CHECKSUM", "LKAS_HUD"),
("CHECKSUM", "LKAS_HUD_A"),
]
checks = [("LKAS_HUD", 0), ("LKAS_HUD_A", 0)]
parser = CANParser(dbc_file, signals, checks, 0)
packer = CANPacker(dbc_file)
values = {
'SET_ME_X41': 0x41,
'STEERING_REQUIRED': 1,
'SOLID_LANES': 1,
'BEEP': 0,
}
# known correct checksums according to the above values
checksum_std = [11, 10, 9, 8]
checksum_ext = [4, 3, 2, 1]
for std, ext in zip(checksum_std, checksum_ext):
msgs = [
packer.make_can_msg("LKAS_HUD", 0, values),
packer.make_can_msg("LKAS_HUD_A", 0, values),
]
can_strings = [can_list_to_can_capnp(msgs), ]
parser.update_strings(can_strings)
self.assertEqual(parser.vl['LKAS_HUD']['CHECKSUM'], std)
self.assertEqual(parser.vl['LKAS_HUD_A']['CHECKSUM'], ext)
def __init__(self, dbc_name, CP, VM): self.CP = CP self.apply_steer_last = 0 self.packer = CANPacker(dbc_name) self.steer_rate_limited = False self.brake_counter = 0 self.frame = 0
def __init__(self, dbc_name, CP, VW):
# state
self.acc_enabled_prev = 0
# steering related
self.angle_request_prev = 0
# Direction change statemachine
self.UNBLOCKED = 0
self.BLOCKED = 1
self.BLOCK_LEN = CCP.BLOCK_LEN # Block steer direction change for x samples
self.dir_state = 0
self.block_steering = 0
self.steer_direction_bf_block = 0
self.des_steer_direction_prev = 0
# SteerCommand
self.SteerCommand = SteerCommand
self.trq_fifo = deque([])
self.fault_frame = -200
# Diag
self.doDTCRequests = True # Turn on and off DTC requests
self.checkPN = False # Check partnumbers
self.clearDtcs = False # Set false to stop sending diagnostic requests
self.timeout = 0 # Set to 0 as init
self.diagRequest = {
"byte0": 0x03,
"byte1": 0x19,
"byte2": 0x02,
"byte3": 0x02,
}
self.flowControl = {
"byte0": 0x30,
"byte1": 0x00,
"byte2": 0x00,
"byte3": 0x00,
}
self.clearDTC = {
"byte0": 0x04,
"byte1": 0x14,
"byte2": 0xFF,
"byte3": 0xFF,
"byte4": 0xFF,
}
# Part number
self.cnt = 0 # Init at 0 always
self.sndNxtFrame = 0 # Init at low value
self.dictKeys = ["byte"+str(x) for x in range(8)]
startdid = 0xf1a1 # Start with this DID (Data IDentifier, read UDS Spec for more info)
self.dids = [x for x in range(startdid, startdid+9)]
# Setup detection helper. Routes commands to
# an appropriate CAN bus number.
self.CP = CP
self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
def __init__(self, dbc_name):
self.braking = False
self.brake_steady = 0.
self.brake_last = 0.
self.apply_brake_last = 0
self.last_pump_ts = 0.
self.packer = CANPacker(dbc_name)
self.new_radar_config = False
def __init__(self, dbc_name, CP, VM):
self.last_steer = 0
self.alert_active = False
self.last_standstill = False
self.standstill_req = False
self.steer_rate_limited = False
self.packer = CANPacker(dbc_name)
def __init__(self, dbc_name, CP, VM): self.apply_steer_last = 0 self.car_fingerprint = CP.carFingerprint self.lkas11_cnt = 0 self.cnt = 0 self.last_resume_cnt = 0 self.packer = CANPacker(dbc_name) self.steer_rate_limited = False
def __init__(self, dbc_name, CP, VM):
self.packer = CANPacker(dbc_name)
self.enabled_last = False
self.main_on_last = False
self.vehicle_model = VM
self.generic_toggle_last = 0
self.steer_alert_last = False
self.lkas_action = 0
def __init__(self, dbc_name, CP, VM):
self.p = CarControllerParams(CP)
self.packer = CANPacker(dbc_name)
self.apply_steer_last = 0
self.car_fingerprint = CP.carFingerprint
self.steer_rate_limited = False
self.last_resume_frame = 0